Robotic Path Planning using Multi Neuron Heuristic Search Rahul Kala, Department of Information Technology Indian Institute of Information Technology and Management Gwalior http://students.iiitm.ac.in/~ipg_200545/ rahulkalaiiitm@yahoo.co.in, rkala@students.iiitm.ac.in Kala, Rahul, Shukla, Anupam & Tiwari, Ritu (2009), Robotic Path Planning using Multi Neuron Heuristic Search, Proceedings of the ACM 2009 International Conference on Computer Sciences and Convergence Information Technology, ICCIT 2009, pp 1318-1323, Seoul, Korea

The Problem Inputs Output Constraints Robotic Map Location of Obstacles Static and Dynamic Output Path P such that no collision occurs Constraints Time Constraints Dimensionality of Map Static and Dynamic Environment

MNHS Algorithm In all we take α neurons. We have a list of heuristic costs each corresponding to node seen but waiting to be processed. We divide the cost range into α ranges equally among them. Each of these neurons is given a particular range. Each neuron selects the minimum most element of the cost range allotted to it and starts searching. At one step of each neuron processes its element by searching and expanding the element. This process is repeated.

Path Planning with MNHS “I believe this is this way takes me shortest to the destination…. Lets give it a try” “But in the process I may get struck… Lets walk a few steps on bad paths as well” Add all possible moves in an open list. Make the a range of moves best to worst as per open list status Add all executed moves in the closed list

Expansion of Nodes I (i-1,j+2) J (i+1,j+2) P (i-2,j+1) B (i-1,j+1) C K (i+2,j+1) A (i-1,j) V (i,j) E (i+1,j) O (i-2,j-1) H (i-1,j-1) G (i,j-1) F (i+1,j-1) L (i+2,j-1) N (i-1,j-2) M (i+1,j-2) Nodes Weights A(i-1,j), C(i,j+1), E(i+1,j), G(i,j-1) 1 B(i-1,j+1), D(i+1,j+1), F(i+1,j-1), H(i-1,j-1) √2 I(i-1,j+2), J(i+1,j+2), K(i+2,j+1), L(i+2,j-1), M(i+1,j-2), N(i-1,j-2), O(i-2,j-1) and P(i-2,j+1) √5

Path Generation

Results

Thank You More from the authors More information at: http://students.iiitm.ac.in/~ipg_200545/