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Robotic Path Robotic Path Planning Planning using Multi using Multi Neuron Neuron Heuristic Search Heuristic Searchhttp://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 Department of Information Technology Department of Information Technology Indian Institute of Information Technology and Management Gwalior Indian Institute of Information Technology and Management ICIS ’09 – Nov 24-26, ‘09 " id="pdf-obj-0-2" src="pdf-obj-0-2.jpg">

Robotic Path

Robotic

Path Planning

Planning

using Multi

using

Multi Neuron

Neuron

Heuristic Search

Heuristic

Search

Rahul Kala,

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

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

Robotic Path Robotic Path Planning Planning using Multi using Multi Neuron Neuron Heuristic Search Heuristic Searchhttp://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 Department of Information Technology Department of Information Technology Indian Institute of Information Technology and Management Gwalior Indian Institute of Information Technology and Management ICIS ’09 – Nov 24-26, ‘09 " id="pdf-obj-0-49" src="pdf-obj-0-49.jpg">

Department of Information Technology

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

Indian Institute of Information Technology and Management

Gwalior

ICIS ’09 – Nov 24-26, ‘09

The Problem The Problem  Inputs Robotic Map Location of Obstacles Static and Dynamic  Output

The Problem

The

Problem

Inputs

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

The Problem The Problem  Inputs Robotic Map Location of Obstacles Static and Dynamic  Output

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09

MNHS Algorithm MNHS Algorithm  In all we take α neurons.  We have a list

MNHS Algorithm

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.

MNHS Algorithm MNHS Algorithm  In all we take α neurons.  We have a list

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09

Path Planning Path Planning with with MNHS MNHS “I believe this is this way takes me

Path Planning

Path

Planning with

with MNHS

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

Path Planning Path Planning with with MNHS MNHS “I believe this is this way takes me

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09

Expansion of Expansion of Nodes Nodes I J (i-1,j+2) (i+1,j+2) P B C D K (i-2,j+1)

Expansion of

Expansion

of Nodes

Nodes

   

I

 

J

   

(i-1,j+2)

(i+1,j+2)

P

B

C

D

K

(i-2,j+1)

(i-1,j+1)

(i,j+1)

(i+1,j+1)

(i+2,j+1)

 

A

V

E

 

(i-1,j)

(i,j)

(i+1,j)

O

H

G

F

L

(i-2,j-1)

(i-1,j-1)

(i,j-1)

(i+1,j-1)

(i+2,j-1)

 

N

 

M

 

Nodes

 

(i-1,j-2)

 

(i+1,j-2)

 

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-

√2

1,j-1)

I(i-1,j+2), J(i+1,j+2), K(i+2,j+1),

√5

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)

 
Expansion of Expansion of Nodes Nodes I J (i-1,j+2) (i+1,j+2) P B C D K (i-2,j+1)

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS ’09 – Nov 24-26, ‘09

Path Generation Path Generation Department of Information Technology Indian Institute of Information Technology and Management Gwalior

Path Generation

Path

Generation

Path Generation Path Generation Department of Information Technology Indian Institute of Information Technology and Management Gwalior
Path Generation Path Generation Department of Information Technology Indian Institute of Information Technology and Management Gwalior

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09

Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior

Results

Results

Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior
Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior
Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior
Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

Results Results Department of Information Technology Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09

More from More from the the authors authors Thank Thank You You More information at: http://students.iiitm.ac.in/~ipg_2

More from

More

from the

the

More from More from the the authors authors Thank Thank You You More information at: http://students.iiitm.ac.in/~ipg_2

authors

authors

Thank

Thank

You

You

More information at:

http://students.iiitm.ac.in/~ipg_2

More from More from the the authors authors Thank Thank You You More information at: http://students.iiitm.ac.in/~ipg_2

00545/

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior

ICIS 09 Nov 24-26, 09