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1、1,weekly report,2012.4.15,Page 2,Page 2,papers,Introduction to Autonomous Mobile Robots,The Focused D* Algorithm for Real-time Replanning,A* Pathfinding,Page 3,Page 3,content,Path-planning,Static,Dynamic,Environment modeling,Methods of path search,Grid method,D* algorithm,GA,Visibility Graph,Free sp
2、ace,A* algorithm,Page 4,Page 4,Grid Method,Easy to modeling, updating and processing,eight kinds of moving direction,Grid,Obstacles,Position of robot,WN,WS,N,EN,E,S,W,ES,Free,part of obstacles,Page 5,Page 5,content,Path-planning,Static,Dynamic,Environment modeling,Methods of path search,Grid method,
3、D* algorithm,GA,Visibility Graph,Free space,A* algorithm,Dynamic A* algorithm,Page 6,Page 6,Key points of A* Algorithm,1.Evaluation Function (cost optimal) F = G + H G=the movement cost from start to the given grid H=the estimated movement cost from current grid to final destination, it is called He
4、uristic Function because it is a guess. 2.Open list Record the squares that have not been visited. 3.Closed list Record the nodes that have been visited.,Page 7,Page 7,Steps,此处添加内容,此处添加内容,此处添加内容,Repeat,Smallest F,Smallest F,Page 8,Page 8,schedules,1.Read the paper about D* Algorithm and to know how it works. 2.Try to learn some programs about A*.,9,Thats all, thank you!,