基于路标隐式分解的前向搜索规划方法

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Abstract

A planning algorithm that implicitly decomposes the forward search procedure with landmark information is proposed. The original planning task is decomposed into several smaller sub tasks according to the estimation of the landmark counting heuristic. Whenever the search visits a state with lower heuristic value,a sub task is completed.The procedure is iterated until the estimation of the landmark counting heuristic reduces to zero. The plan fragments of all the sub tasks are connected into the final solution. The experimental results show the superiority of the proposed algorithm. The implicit task decomposition is introduced by the landmark counting heuristic. Therefore,compared with the existing decomposition methods that treat landmarks as mandatory subgoals,the proposed algorithm guides the forward search procedure faster,cuts down the search space dramatically and makes considerable improvement in both planning efficiency and planning quality.

Key words： Landmark Counting Heuristic Implicit Decomposition Forward Search Plan Fragment

Received: 14 August 2012

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	WEI Wei
	OUYANG Dan Tong

Cite this article:

WEI Wei,OUYANG Dan Tong. Forward Search Planning Based on Implicit Decomposition with Landmarks[J]. , 2013, 26(6): 513-520.

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http://manu46.magtech.com.cn/Jweb_prai/EN/ OR http://manu46.magtech.com.cn/Jweb_prai/EN/Y2013/V26/I6/513