(Georgia Institute of Technology, 2010-12)
Lu, Yibiao; Huo, Xiaoming; Tsiotras, Panagiotis
We consider the deterministic path-planning problem
dealing with the single-pair shortest path on a given graph.
We propose a multiscale version of the well known A* algorithm
(m-A*), which utilizes information of the environment at
distinct scales. This information is collected via a bottom-up
fusion method. Comparing with existing algorithms such as
Dijkstra’s or A*, the use of multiscale information leads to an
improvement in terms of computational complexity.