The Robotics Institute

Carnegie Mellon Robotics Institute

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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",
}

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