Real time target evaluation search

In this paper we propose a real-time search algorithm called Real-Time Target Evaluation Search (RTTES) for the problem of searching a route in grid worlds from a starting point to a static or dynamic target point in real-time. The algorithm makes use of a new effective heuristic method which utilizes environmental information to successfully find solution paths to the target in dynamic and partially observable environments. The method requires analysis of obstacles to determine closed directions and estimate the goal relevance of open directions in order to identify the most beneficial move. The environment is assumed to be a planar grid and the agent has limited perception. In this paper, we compared RTTES with Real-Time A* (RTA*) and Real-Time Edge Follow (RTEF), and observed a significant improvement.

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