Head Star (H*): A Motion Planning Algorithm for Navigation Among Movable Obstacles

Halim Djerroud

2023

Abstract

The objective of Navigation Among Movable Obstacles (NAMO) is to optimise the behaviour of robots by giving them the ability to manipulate obstacles. Current NAMO methods use two planners, one for moving through open spaces and a second for handling obstacles. However, these methods focus on providing a solution for obstacles handling and neglect movement in free spaces. These methods usually assume using classical obstacle avoidance algorithms for moving in free spaces. However, they are not suitable for the NAMO. This paper proposes a new path planning algorithm Head Star (H*) adapted for NAMO in free spaces. It is inspired by Bug’s algorithms by adding a graphical representation and heuristics on the distances allowing it to bring the robot as close as possible to its goal while keeping in memory the areas already visited.

Paper Citation

in Harvard Style

Djerroud H. (2023). Head Star (H*): A Motion Planning Algorithm for Navigation Among Movable Obstacles. In Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART, ISBN 978-989-758-623-1, pages 211-219. DOI: 10.5220/0011637200003393

in Bibtex Style

@conference{icaart23,
author={Halim Djerroud},
title={Head Star (H*): A Motion Planning Algorithm for Navigation Among Movable Obstacles},
booktitle={Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART,},
year={2023},
pages={211-219},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011637200003393},
isbn={978-989-758-623-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART,
TI - Head Star (H*): A Motion Planning Algorithm for Navigation Among Movable Obstacles
SN - 978-989-758-623-1
AU - Djerroud H.
PY - 2023
SP - 211
EP - 219
DO - 10.5220/0011637200003393