A Graph-Search Based Navigation Algorithm for Traversing A Potentially Hazardous Area with Disambiguation

Xugang Ye and Carey E. Priebe
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Xugang Ye: Johns Hopkins University, USA
Carey E. Priebe: Johns Hopkins University, USA

International Journal of Operations Research and Information Systems (IJORIS), 2010, vol. 1, issue 3, 14-27

Abstract: The authors consider the problem of navigating an agent to safely and swiftly traverse a two dimensional terrain populated with possible hazards. Each potential hazard is marked with a probabilistic estimate of whether it is indeed true. In proximity to any of these potential hazards, the agent is able to disambiguate, at a cost, whether it is indeed true or false. The method presented in this paper is to discretize the terrain using a two dimensional grid with 8-adjacency and approximately solve the problem by dynamically searching for shortest paths using the A* algorithm in the positively weighted grid graph with changing weight function.

Date: 2010
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