A Guide to Heuristic-based Path Planning

David Ferguson , Maxim Likhachev, and Anthony (Tony) Stentz
Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005.


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Abstract
We describe a family of recently developed heuristic-based algorithms used for path planning in the real world. We discuss the fundamental similarities between static algorithms (e.g. A*), replanning algorithms (e.g. D*), anytime algorithms (e.g. ARA*), and anytime replanning algorithms (e.g. AD*). We introduce the motivation behind each class of algorithms, discuss their use on real robotic systems, and highlight their practical benefits and disadvantages.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics
Number of pages: 10

Text Reference
David Ferguson , Maxim Likhachev, and Anthony (Tony) Stentz, "A Guide to Heuristic-based Path Planning," Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005.

BibTeX Reference
@inproceedings{Ferguson__2005_5085,
   author = "David {Ferguson } and Maxim Likhachev and Anthony (Tony) Stentz",
   title = "A Guide to Heuristic-based Path Planning",
   booktitle = "Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS)",
   month = "June",
   year = "2005",
}