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作者:

Liu, Junjun (Liu, Junjun.) | Li, Wenzheng (Li, Wenzheng.)

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EI Scopus

摘要:

Path planning is a very general problem in computer science and artificial intelligence, and it is widely used in many applications, such as robotics, computer games and artificial systems. In many problem domains, finding an optimal path will cost too much time and this will affect the practical use. During the decades, many path planning algorithms have been proposed to search for a bounded sub-optimal solution in order to improve the search efficiency. This paper presents a new strategy which we call aggressive heuristic search (or AHS for short) to find a solution instantly and then find a bounded sub-optimal solution if time permits. The AHS includes three stages, the first stage is only using a heuristic information to search, which we call the exploration stage, and by this stage we can get a solution instantly and get a region that an optimal path may pass through, the second stage which we call exploitation stage is using the conventional A∗ algorithm to search for an optimal solution in the region that given by stage one, and the third stage is a modification stage to make sure that the final solution is bounded by a specific factor of the optimal solution by using the conventional A∗ algorithm to search on the global region. We test the performance of AHS on 2D four-neighbor grid map and fifteen puzzle benchmarks, we find that when we need to find a solution instantly and then find a bounded sub-optimal solution if time permits, AHS outperforms WA∗ in the procedure of generating a bounded solution and Optimistic search in the whole procedure under some specific bounding factors. © 2018 IEEE.

关键词:

Artificial intelligence Benchmarking Computer games Heuristic algorithms Motion planning Optimal systems Optimization Robot programming

作者机构:

  • [ 1 ] [Liu, Junjun]College of Computer Science and Technology, Faculty of Information Technology, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing; 100124, China
  • [ 2 ] [Li, Wenzheng]College of Computer Science and Technology, Faculty of Information Technology, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing; 100124, China

通讯作者信息:

  • [li, wenzheng]college of computer science and technology, faculty of information technology, beijing university of technology, no. 100, pingleyuan, chaoyang district, beijing; 100124, china

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年份: 2018

页码: 16-20

语种: 英文

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SCOPUS被引频次: 2

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