NDLI: Optimal route re-planning for mobile robots: a massively parallel incremental A* algorithm

Content Provider	IEEE Xplore Digital Library
Author	Ma Tao Elssamadisy, A. Flann, N. Abbott, B.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Utah State Univ., Logan, UT, USA (Ma Tao)
Abstract	The principal advantage of incremental A* algorithms for precomputing and maintaining routes for mobile robotic vehicles is the completeness and optimality of the approach. However, the computational burden becomes unreasonable when large worlds are modeled or fine resolution is required, since the complexity is bound by the area modeled. This problem is compounded when multiple vehicles and multiple goals are involved, since routes to each goal from each vehicle must be maintained. This paper presents a massively parallel incremental A* algorithm suitable for implementing in VLSI. The number of iterations of the parallel algorithm is bound by the optimal path length, providing a significant speedup for large worlds. Empirical studies combined with a feasible VLSI design estimate that path calculations on a 1000 by 1000 world could be done in approximately 110 mS worse case.
Starting Page	2727
Ending Page	2732
File Size	701300
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619372
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Vehicles Cost function Very large scale integration Path planning Computer science Concurrent computing Automotive engineering Maintenance engineering Mobile computing
Content Type	Text
Resource Type	Article

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