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Journal paper

Twoway D* algorithm for path planning and replanning


Robotics and autonomous systems (09218890) , Vol.59 (5), pp.329342, doi:10.1016/j.robot.2011.02.007, 2011

ABSTRACT: Inspired by the Witkowski's algorithm, we introduce a novel path planning and replanning algorithm  the twoway D* (TWD*) algorithm  based on a twodimensional occupancy grid map of the environment. Unlike the Witkowski's algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD* algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD* algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D* algorithm as it consists of straight line segments with continuous headings. The TWD* algorithm is tested and compared to the D* and Witkowski's algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.

BibTeX entry:
@article \{Seder2011_486,
author = \{Seder, M. AND Petrovi\'{c}, I.},
title = \{Twoway D* algorithm for path planning and replanning}, journal = {Robotics and autonomous systems (09218890) }, volume = \{59 (5)}, pages = \{329342, doi:10.1016/j.robot.2011.02.007}, year = \{2011} }

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