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A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation

Author

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  • Xugang Ye

    (Johns Hopkins University, USA)

  • Carey E. Priebe

    (Johns Hopkins University, USA)

Abstract

The authors consider the problem of navigating an agent to safely and swiftly traverse a two dimensional terrain populated with possible hazards. Each potential hazard is marked with a probabilistic estimate of whether it is indeed true. In proximity to any of these potential hazards, the agent is able to disambiguate, at a cost, whether it is indeed true or false. The method presented in this paper is to discretize the terrain using a two dimensional grid with 8-adjacency and approximately solve the problem by dynamically searching for shortest paths using the A* algorithm in the positively weighted grid graph with changing weight function.

Suggested Citation

  • Xugang Ye & Carey E. Priebe, 2010. "A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation," International Journal of Operations Research and Information Systems (IJORIS), IGI Global, vol. 1(3), pages 14-27, July.
    • Handle: RePEc:igg:joris0:v:1:y:2010:i:3:p:14-27
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    Cited by:

    1. Vural Aksakalli & O. Furkan Sahin & Ibrahim Ari, 2016. "An AO* Based Exact Algorithm for the Canadian Traveler Problem," INFORMS Journal on Computing, INFORMS, vol. 28(1), pages 96-111, February.
    2. Vural Aksakalli & Ibrahim Ari, 2014. "Penalty-Based Algorithms for the Stochastic Obstacle Scene Problem," INFORMS Journal on Computing, INFORMS, vol. 26(2), pages 370-384, May.

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