Brener, Nathan E and Iyengar, Sitharama S and Looney, Hua C and Vakamudi, Narayanadas and Yu, Decai and Huang, Qianyu and Barhen, Jacob (2004) Three-dimensional route planning for large grids. In: Journal of the Indian Institute of Science, 84 (3&4). pp. 67-76.
We have developed a 3D route planner, called 3DPLAN, which employs the A* algorithm to find optimum paths. The A* algorithm has a major advantage compared to other search methods because it is guaranteed to give the optimum path. In spite of this significant advantage, no one has previously used A* in 3D searches as far as we are aware. The probable reason for this is the belief that the computational cost of using A* for 3D route planning would be prohibitive. In this paper we show that, on the contrary, it is quite feasible to use A* for 3D searches if one employs the new mobility and threat heuristics that we have developed. These new heuristics substantially speed up the A* algorithm so that the run times are quite reasonable for the large grids that are typical of 3D searches.
|Item Type:||Journal Article|
|Additional Information:||Copyright for this article belongs to Indian Institute of Science.|
|Keywords:||3D route planner;A* algorithm;3D searches;mobility and threat heuristics|
|Department/Centre:||Division of Electrical Sciences > Computer Science & Automation (Formerly, School of Automation)|
|Date Deposited:||19 May 2005|
|Last Modified:||19 Sep 2010 04:19|
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