A* planning in discrete configuration spaces of autonomous systems

Authors	K.I. Trovato
Supervisors	F.C.A. Groen L. Dorst
Award date	09-09-1996
Number of pages	192
Organisations	Faculty of Science (FNWI) - Informatics Institute (IVI)
Abstract	This thesis presents a powerful, modular framework that uses the A* algorithm to plan motions for an autonomous system. We also introduce Differential A*, a new and complementary method that can be used in the framework for quickly addressing changes in the environment.
Document type	PhD thesis
Language	English
Downloads	Thesis Front cover Title pages Table of contents List of figures Chapter 1: Introduction Chapter 2: Background: A* search Chapter 3: Path planning framework using an A* search Chapter 4: Autonomous vehicle maneuvering Chapter 5: Differential A* (δA) for graphs Chapter 6: Mapping Differential A to robotics Chapter 7: Discussion Summary Samenvatting References Appendix A: A* notation Appendix B: Discrete neighborhood calculation Appendix C: Rendezvous planning Acknowledgment Curriculum vitae
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