Anytime dynamic A*: an anytime, replanning algorithm
作者： Maxim Likhachev , Anthony Stentz , Sebastian Thrun , Dave Ferguson , Geoff Gordon
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摘要: We present a graph-based planning and replanning algorithm able to produce bounded suboptimal solutions in an anytime fashion. Our tunes the quality of its solution based on available search time, at every step reusing previous efforts. When updated information regarding underlying graph is received, incrementally repairs solution. The result approach that combines benefits incremental planners provide efficient complex, dynamic problems. theoretical analysis algorithm, experimental results simulated robot kinematic arm, two current applications path for outdoor mobile robots.
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