Robot Path Planning using Dynamic Programming with Accelerating Nodes
We solve the problem of robot path planning using Dynamic Programming (DP) designed to perform well in case of a sudden path blockage. A conventional DP algorithm works well for real time scenarios only when the update frequency is high i.e. changes can be readily propagated. In case updates are cos...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2012-03-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/s13230-012-0013-4 |
| _version_ | 1827613347218980864 |
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| author | Kala Rahul Shukla Anupam Tiwari Ritu |
| author_facet | Kala Rahul Shukla Anupam Tiwari Ritu |
| author_sort | Kala Rahul |
| collection | DOAJ |
| description | We solve the problem of robot path planning using Dynamic Programming (DP) designed to perform well in case of a sudden path blockage. A conventional DP algorithm works well for real time scenarios only when the update frequency is high i.e. changes can be readily propagated. In case updates are costly, for a sudden blockage the robot continues moving along the wrong path or stands stationary. We propose a modified DP that has nodes with additional processing (called accelerating nodes) to enable different segments of the map to become informed about the blockage rapidly. We further quickly compute an alternative path in case of a blockage. Experimental results verify that usage of accelerating nodes makes the robot follow optimal paths in dynamic environments. |
| first_indexed | 2024-03-09T08:38:24Z |
| format | Article |
| id | doaj.art-f68309c37db44d5fa66af1167bf5ca65 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T08:38:24Z |
| publishDate | 2012-03-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-f68309c37db44d5fa66af1167bf5ca652023-12-02T17:49:42ZengDe GruyterPaladyn2081-48362012-03-0131233410.2478/s13230-012-0013-4Robot Path Planning using Dynamic Programming with Accelerating NodesKala Rahul0Shukla Anupam1Tiwari Ritu2Soft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Gwalior, Madhya Pradesh-474010, IndiaSoft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Gwalior, Madhya Pradesh-474010, IndiaSoft Computing and Expert System Laboratory, Indian Institute of Information Technology and Management Gwalior, Gwalior, Madhya Pradesh-474010, IndiaWe solve the problem of robot path planning using Dynamic Programming (DP) designed to perform well in case of a sudden path blockage. A conventional DP algorithm works well for real time scenarios only when the update frequency is high i.e. changes can be readily propagated. In case updates are costly, for a sudden blockage the robot continues moving along the wrong path or stands stationary. We propose a modified DP that has nodes with additional processing (called accelerating nodes) to enable different segments of the map to become informed about the blockage rapidly. We further quickly compute an alternative path in case of a blockage. Experimental results verify that usage of accelerating nodes makes the robot follow optimal paths in dynamic environments.https://doi.org/10.2478/s13230-012-0013-4path planningdynamic programmingartificial neural networksa*roboticsheuristics |
| spellingShingle | Kala Rahul Shukla Anupam Tiwari Ritu Robot Path Planning using Dynamic Programming with Accelerating Nodes Paladyn path planning dynamic programming artificial neural networks a* robotics heuristics |
| title | Robot Path Planning using Dynamic Programming with Accelerating Nodes |
| title_full | Robot Path Planning using Dynamic Programming with Accelerating Nodes |
| title_fullStr | Robot Path Planning using Dynamic Programming with Accelerating Nodes |
| title_full_unstemmed | Robot Path Planning using Dynamic Programming with Accelerating Nodes |
| title_short | Robot Path Planning using Dynamic Programming with Accelerating Nodes |
| title_sort | robot path planning using dynamic programming with accelerating nodes |
| topic | path planning dynamic programming artificial neural networks a* robotics heuristics |
| url | https://doi.org/10.2478/s13230-012-0013-4 |
| work_keys_str_mv | AT kalarahul robotpathplanningusingdynamicprogrammingwithacceleratingnodes AT shuklaanupam robotpathplanningusingdynamicprogrammingwithacceleratingnodes AT tiwariritu robotpathplanningusingdynamicprogrammingwithacceleratingnodes |