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Improved Anytime D* Algorithm

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 247))

Abstract

In the dynamic domain, agents often operate in the terrain which is only incompletely known and can be dynamically updated on the fly. In this case, dynamic navigation algorithm, which is required to find out an optimal solution to its goal, has been an important component in planning. However, under the environments where time is more critical than optimality, a sub-optimal solution is required. Therefore the challenge for practical applications is to find a high sub-optimal solution in limited time. The dynamic algorithm Anytime D*(AD*) is currently the best anytime algorithm which aims to return a high sub-optimal solution with short corresponding time and control of sub-optimality. In this chapter, a new algorithm named Improved Anytime D*(IAD*) is introduced. By reducing the search space, experiment results show IAD* better outperforms Anytime D* in various random benchmarks.

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Acknowledgments

This work was supported by University Research Council’s (URC), 2012 Summer Graduate Student Research Fellowships funded by University of Cincinnati.

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Authors and Affiliations

  1. Department of Computer Science, University of Cincinnati, Cincinnati, OH, 45220, USA

    Weiya Yue, John Franco & Qiang Han

  2. Institute of Information Engneering, Chinese Academy of Science, Beijing, 10009, China

    Weiwei Cao

Authors
  1. Weiya Yue
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  2. John Franco
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  3. Qiang Han
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  4. Weiwei Cao
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Corresponding author

Correspondence to Weiwei Cao .

Editor information

Editors and Affiliations

  1. Computer & Communication Dean of Engineering College, Catholic University of DaeGu Engineering College, DaeGu, Korea, Republic of (South Korea)

    Haeng Kon Kim

  2. Unit 1, 1/F, International Association of Engineers, Hong Kong, Hong Kong SAR

    Sio-Iong Ao

  3. College of Engineering, California State Polytechnic University, Pomona, California, USA

    Mahyar A. Amouzegar

  4. Abt. Linguistische Datenverarbeitung, Universität Trier Inst.Computerlinguistik, Trier, Germany

    Burghard B. Rieger

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Yue, W., Franco, J., Han, Q., Cao, W. (2014). Improved Anytime D* Algorithm. In: Kim, H., Ao, SI., Amouzegar, M., Rieger, B. (eds) IAENG Transactions on Engineering Technologies. Lecture Notes in Electrical Engineering, vol 247. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6818-5_27

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  • DOI: https://doi.org/10.1007/978-94-007-6818-5_27

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-6817-8

  • Online ISBN: 978-94-007-6818-5

  • eBook Packages: EngineeringEngineering (R0)

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