LPLian:动态网格中的角度约束路径查找

2019 12th International Conference on Developments in eSystems Engineering (DeSE) Pub Date : 2019-10-01 DOI:10.1109/DeSE.2019.00019

N. Soboleva, K. Yakovlev

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引用次数: 0

摘要

考虑了以网格表示的动态二维环境中受角度约束的路径规划问题。我们将LIAN算法与著名的终身规划方法相结合，提出了一种针对静态网格问题的扩展LIAN算法。我们描述了最终的算法，LPLian，并在一系列模拟实验中对其进行了经验评价。评估结果清楚地表明，对于定义明确的一类问题，LPLian比使用LIAN从头开始重新规划的朴素方法要好2倍。

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LPLian: Angle-Constrained Path Finding in Dynamic Grids

We consider the problem of planning angleconstrained paths in dynamic 2D environment represented as a grid. We propose an extension of the LIAN algorithm, which is tailored to solve the problem on static grids, by combining it with the prominent Lifelong planning approach. We describe the resultant algorithm, LPLian, and evaluate it empirically in the series of simulated experiments. The results of the evaluation clearly show that LPLian outperforms the naive approach of replanning with LIAN from scratch for a well-defined class of the problems by a factor of 2x.

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2019 12th International Conference on Developments in eSystems Engineering (DeSE)

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