Ds* Heuristic Approach using 'Safety Distance' for Agent Path Planning

The efficiency in path planning algorithms is a crucial issue in mobile agents. For an artificial agent, observation from environment, navigational behavior and learning methods over occupancy grid maps are tools for effective path planning. The path generated by the conventional D* algorithm may lead to collision with the obstacles in real-time scenario and this issue is addressed by Ds* which usessafety distance' phenomena, based on weighted cost function. The factors of distance and safety are considered simultaneously in the cost function, thereby demonstrated efficiency in path planning. An analysis on goal-directed navigation tasks in mazes using Ds* heuristic approach is carried out and the efficiency is evaluated based on two parameters - Path length and Execution time.

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