{"title":"LPLian: Angle-Constrained Path Finding in Dynamic Grids","authors":"N. Soboleva, K. Yakovlev","doi":"10.1109/DeSE.2019.00019","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"10 1","pages":"48-53"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DeSE.2019.00019","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
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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