, Ð pkeisoken/research/journal/no...Ï E Anthony Stentz E b = @ ù t / f 9 ¹ ] Q z à  ¸ A e D*...
Transcript of , Ð pkeisoken/research/journal/no...Ï E Anthony Stentz E b = @ ù t / f 9 ¹ ] Q z à  ¸ A e D*...
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2011 3 11
1 RoboCup Rescue Simulation [1]
RoboCup Rescue Simulation
RoboCup Rescue Simulation
RoboCup Rescue Simulation
1
RoboCup Rescue Simulation
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A*[2] [3]
2
A* D* [4]
Adaptive A* [5]
A*
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G
1
G= V, E, C
V node E edge
C
2
V = {v1, v2,…, vn}
3
E = {ei, j vi, vj V, vi vj }
4
C : E R+
ei, j ci, j
G vs vg
5
vs, vs+1, … , vg-1, vg vi vi+1
ei, i+1
vs, vs+1, … , vg-1, vg
6
cs, s+1+cs+1, s+2+…+cg-2, g-1+ cg-1, g
vs vg
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7
vs vg
8
9
●
10
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11
12
13
A* [2] 1968 Hart
A*
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A*
p
p f p
f p = g p + h p
g p h p
g p p
h p p
p p
g p h p
h p h* p
p
f* p = g p + h* p
h* p
h* p p, 0 ≤ h* p ≤ h p
A*
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f* p
f* p
h* p
A*
D* [4] 1994 Anthony Stentz
D* A*
A*
Adaptive A* [5] 2006 Sven
Adaptive A*
A*
A*
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G'
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14
G'= V, E, C, B
V, E , C 2, 3, 4
B
15
B : E R+
ei, j bi, j
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A* 3
A*
A* h* p h*
p p
v1, v2, v3, …
1. p
2.
3. 1 2
4. vi vi vi+1
5. 3
6. 3 5 h* p
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4.1 7 8
1. 3 h* 3
a
0.98 0.98 1 3 = 2.8812
b
0.02 3 + 0.98 0.02 4 + 0.98 0.98 0 7 = 0.1384
c h* 3 = 2.8812 + 0.1384 = 3.0196
2. 0 h* 0 3.19
3. f * p
a f* 3 = g 3 + h* 3 = 1 + 3.0196 = 4.0196
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b f * 0 = g 0 + h* 0 = 1 + 3.19 = 4.194
4. f * p
3
5. 6 4 7 f* p
6. 6 f * p 4 f * p
6
7. 5 3 f * p
8. 5
9. 8 8
10.
A*
A*
A*
A*
A*
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A*
A* h* p p
1 5.1
C++ Visual Studio
2010
OS Windows 7CPU AMD Athlon X2 Dual Core Processor 5200+
Memory 3GB
3[8]
1%
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A*
5.1 5.2 5.2
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1-1 1 20 4 1 1000
1-2 2 20 4 10 1000
2-1 1 20 4 1 1000
2-2 2 20 4 10 1000
5.3 .
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sA* 66.499 12.23 0.00021
35.958 2.192 0.0003034.927 - -
1-1 5.3 .
A*
t = 34.106, P = 0.000 A*
5.4
0
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34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70
t�
@ABC/�
A* YZ[\ ]^_
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sA* 42.327 3.716 0.00112
35.393 1.050 0.0018640.516 2.790 0.0015634.934 - -
1-2 5.5
3 5.5
t PA* 3.1954 0.000
A* 11.505 0.00031.635 0.000
0
100
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34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49
t�
@ABC/�
A* YZ[\ � ]^_
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5.6
sA* 42.370 14.671 0.00031
35.945 5.399 0.0001734.090 - -
2-1 5.5
A*
t = 18.175, P = 0.000 A*
0100200300400500600700800900
1000
34 37 40 43 46 49 52 55 58 61 64 67 70
t�
@ABC/�
A* YZ[\ ]^_
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5.7
sA* 35.432 2.736 0.00096
35.237 1.024 0.0016335.178 2.018 0.0015434.071 - -
2-2 5.6
3 5.8
0100200300400500600700800900
1000
34 35 36 37 38 39 40 41 42 43 44 45 46
t�
@ABC/�
A* YZ[\ � ]^_
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t PA* 19.004 0.000
A* 9.977 0.00016.974 0.000
2003 [6]
G' = V, E, C, B V E
C B
B[7] 5.9
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3 1 10004 1 1000
5-1 3 1 10005-2 3 10 10005-3 3 100 10005-4 3 20 10005-5 3 30 10006-1 1 1 10006-2 1 10 10006-3 1 20 1000
m
5.10
m m sA* 998.50 122.8 0.00185
998.35 122.6 0.00789932.38 - -
m 5.7
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A*
t = 0.054, P = 0.998 A*
m
5.11
m m sA* 2390.45 363.9 0.00626
2355.78 325.6 0.787071980.52 - -
m 5.8
050
100150200250300350400450500
t�
@ABC/�(m)
A* YZ[\ ]^_
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A*
t = 1.807, P = 0.167 A*
m
5.12
m m sA* 2209.74 411.41 0.00553
1631.94 237.29 0.058721518.90 - -
m 5.9
0
50
100
150
200
250
300
t�
@ABC/�(m)
A* YZ[\ ]^_
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A*
t = 33.116, P = 0.000 A*
m
5.13
m m sA* 1697.09 123.61 0.02049
1621.50 178.60 0.316061633.02 99.90 0.105121517.91 - -
m 5.10
0
50
100
150
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1400 1550 1700 1850 2000 2150 2300 2450 2600 2750 2900 3050 3200 3350 3500
t�
@ABC/�(m)
]^_ A* YZ[\
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3 5.14
t PA* 17.239 0.000
A* 13.346 0.00010.340 0.000
m
5.15
0
50
100
150
200
250
300
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450
1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
>�
@ABC/�(m)
A* YZ[\ � ]^_
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m m sA* 1537.18 56.28 0.17054
1632.04 255.3 3.149191529.91 55.07 0.678861519.17 - -
m 5.11
3 5.16
t PA* 2.296 0.000
A* 5.086 0.0005.592 0.000
0
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t�
@ABC/�(m)
A* YZ[\ � ]^_
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m
5.17
m m sA* 1062.39 91.04 0.03772
1032.76 88.14 0.438291049.27 86.83 0.16579963.05 - -
m 5.12
3 5.18
050
100150200250300350400450500
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t�
@ABC/�(m)
A* YZ[\ � ]^_
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t PA* 9.277 0.000
A* 3.744 0.0005.705 0.000
m
5.19
m m sA* 1007.80 85.58 0.05782
993.70 82.23 0.43575990.04 74.28 0.17549930.66 - -
m 5.13
050
100150200250300350400450500
t�
@ABC/�(m)
A* YZ[\ � ]^_
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3 5.20
t PA* 4.677 0.000
A* 5.290 0.0000.599 0.932
m
5.21
m m sA* 2210.89 485.2 0.00586
1916.49 397.5 0.109261706.52 - -
m 5.14
0
100
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1650 1800 1950 2100 2250 2400 2550 2700 2850 3000 3150 3300 3450 3600
t�
@ABC/�(m)
A* YZ[\ ]^_
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A*
t = 18.731, P = 0.000 A*
m
5.22
m m sA* 1848.07 148.1 0.02639
1824.26 227.9 0.414191798.80 126.0 0.156691704.31 - -
m 5.15
A*
5.23
0
100
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>�
@ABC/�(m)
A* YZ[\ � ]^_
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t P
A* 9.671 0.000
A* 8.168 0.000
4.535 0.000
m
5.24
m m sA* 1773.49 95.77 0.04951
1768.35 146.7 0.636501749.46 87.65 0.219191704.07 - -
m 5.16
0
100
200
300
400
500
600
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165017001750180018501900195020002050210021502200225023002350
t�
@ABC/�(m)
A* YZ[\ � ]^_
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3 5.25
t PA* 8.260 0.000
A* 6.691 0.0003.426 0.000
A*
A*
A*
A*
A*
A*
A*
A*
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A*
A*
A*
A*
A*
A*
A*
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2
C-168
2012
1 Robocup rescue simulation, http://roborescue.sourceforge.net/.
2 P.E. Hart, N.J. Nilsson, and B. Raphael, A formal basis for the heuristic determination of
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