Obstacle encountered! h=4 h=3 h=1 h=1 h=3 h=2 h=1 h=0 E L中G h=4 h=2 h=1 B DH→K h=5 h=4 h=2 SA中C→F a At state A, robot discovers edge from d to h is blocked(cost 5,000 units) a Update map and reinvoke planner
Obstacle Encountered! J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 1 h = 1 h = 2 h = 1 h = 0 h = 1 At state A, robot discovers edge from D to H is blocked (cost 5,000 units). Update map and reinvoke planner
Continue path Execution h=4 h=3 h=1 h=1 h=3 h=2 h=1 h=0 E L中G h=4 h=2 h=1 B DH→K h=5 h=4h=3 h=2 SA中C→F As previous path is still optimal a Continue moving robot along back pointers
Continue Path Execution J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 1 h = 1 h = 2 h = 1 h = 0 h = 1 A’s previous path is still optimal. Continue moving robot along back pointers
Second Obstacle, replan! h=4 h=3 h=1 h=1 h=3 h=2 h=1 h=0 E L中G h=4 h=2 h=1 B DH→K h=5 h=4 h=2 SA甲C F a At c robot discovers blocked edges from c to f and h(cost 5,000 units a Update map and reinvoke planner
Second Obstacle, Replan! J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 3 h = 2 h = 1 h = 1 h = 2 h = 1 h = 0 h = 1 At C robot discovers blocked edges from C to F and H (cost 5,000 units). Update map and reinvoke planner
Path Execution Achieves goal h=4 h=3 h=1 h=1 MNO h=3 h=2 h=1 h=0 E中1→L中G h=4 h=2 h=1 B DH→K h=5 h=4 h=2 SA分CF Follow back pointers to goal a No further discrepancies detected goal achieved!
Path Execution Achieves Goal h = 5 J M N O E I L G B D H K S A C F h = 5 h = 4 h = 3 h = 4 h = 4 h = 3 h = 2 h = 3 h = 2 h = 1 h = 1 h = 2 h = 1 h = 0 h = 1 Follow back pointers to goal. No further discrepancies detected; goal achieved!
Outline Review: Optimal path planning in Partially Known Environments a Continuous Optimal Path Planning 口 DynamIC A iNcremental A* LRTA*)
Outline Review: Optimal Path Planning in Partially Known Environments. Continuous Optimal Path Planning Dynamic A* Incremental A* (LRTA*)