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
Department of Information Technology
Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 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

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 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.

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 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

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 Expansion of 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-
Department of Information Technology
1)ofand
Indian Institute P(i-2,j+1)
Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 Path Generation

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 Results

Department of Information Technology

Indian Institute of Information Technology and Management Gwalior ICIS ’09 – Nov 24-26, ‘09
 More from the
authors

Thank
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