Fast Replanning Multi-Heuristic A
Junhyoung Ha Soonkyum Kim Junhyoung Ha Soonkyum Kim
In this paper, we proposed a novel path replanning algorithm on arbitrary graphs. To avoid computationally heavy preprocessing and to reduce required memory to store the expanded vertices of the previous search, we defined the feature vertices, which are extracted from the previous path by a simple algorithm to compare the costs between adjacent vertices along the path once. Proper additional heur...