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A Hierarchical Extension of the D* Algorithm

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Abstract

In this paper a contribution to the practice of path planning using a new hierarchical extension of the D* algorithm is introduced. A hierarchical graph is stratified into several abstraction levels and used to model environments for path planning. The hierarchical D* algorithm uses a down-top strategy and a set of pre-calculated trajectories in order to improve performance. This allows optimality and specially lower computational time. It is experimentally proved how hierarchical search algorithms and on-line path planning algorithms based on topological abstractions can be combined successfully.

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Authors and Affiliations

  1. Department of Computer Architecture and Technology, University of Seville, Spain

    Daniel Cagigas

  2. Laboratory of Human-Computer Interaction for Special Needs, University of the Basque Country, Spain

    Julio Abascal

Authors
  1. Daniel Cagigas
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  2. Julio Abascal
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Correspondence to Daniel Cagigas.

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Cagigas, D., Abascal, J. A Hierarchical Extension of the D* Algorithm. J Intell Robot Syst 42, 393–413 (2005). https://doi.org/10.1007/s10846-005-2962-x

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  • DOI: https://doi.org/10.1007/s10846-005-2962-x

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