A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments | |
Mi, Kai1,2; Zheng, Jun2; Wang, Yunkuan2; Hu, Jianhua2 | |
刊名 | IEEE ACCESS |
2019 | |
卷号 | 7期号:-页码:135870-135881 |
关键词 | Path planning obstacle avoidance search-based planner stagnation detection multi-heuristic A* |
ISSN号 | 2169-3536 |
DOI | 10.1109/ACCESS.2019.2941537 |
通讯作者 | Zheng, Jun(jun.zheng@ia.ac.cn) |
英文摘要 | We consider the problem of planning an obstacle avoidance path for manipulators in cluttered environments especially with narrow passages. Compared to sampling-based planners, heuristic search-based planners are more suitable for such environments due to the consistent heuristic guidance. In order to solve the problem of search stagnation caused by inappropriate heuristic guidance, we use the Shared Multi-Heuristic A* (SMHA*) algorithm and predefine multiple inadmissible heuristics. Meanwhile, when the consistent heuristic guidance is correct and appropriate, in order to avoid the unnecessary inadmissible heuristics to increase the search burden, we improve it by adding heuristic-based stagnation detection for each extended node and the improved algorithm is called SD-SMHA*. Only when the algorithm detects that it ceases to make significant progress towards the goal, the predefined inadmissible heuristics will be introduced. Finally, multiple simulation experiments are carried out and the results show that the improved algorithm effectively improves the planning efficiency and planning success rate in different scenarios. |
资助项目 | Major Science and Technology Project of Henan Province[161100210300] |
WOS关键词 | MOTION ; SEARCH |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
语种 | 英语 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
WOS记录号 | WOS:000498686700002 |
资助机构 | Major Science and Technology Project of Henan Province |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/29333] |
专题 | 智能制造技术与系统研究中心_先进制造与自动化 |
通讯作者 | Zheng, Jun |
作者单位 | 1.Univ Chinese Acad Sci, Sch Comp Sci & Technol, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Intelligent Mfg Technol & Syst Res Ctr, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Mi, Kai,Zheng, Jun,Wang, Yunkuan,et al. A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments[J]. IEEE ACCESS,2019,7(-):135870-135881. |
APA | Mi, Kai,Zheng, Jun,Wang, Yunkuan,&Hu, Jianhua.(2019).A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments.IEEE ACCESS,7(-),135870-135881. |
MLA | Mi, Kai,et al."A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments".IEEE ACCESS 7.-(2019):135870-135881. |
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