Evaluation of real-time search algorithms in dynamic worlds (summary of results)

A classification of different dynamic worlds is presented. A detailed model of a dynamic world where changes occur in edge costs around a zero mean is provided. A formal analysis of the model suggests that the static rank ordering of solution paths is preserved in the model. Two real-time search algorithms, DYNORAII and RTA*, for the real-time path planning problem are analyzed. Results on the path planning problem using the proposed dynamic model of graphs are given. The ability of DYNORAII and RTA* to minimize response times in dynamic environments has been evaluated experimentally. It is found that DYNORAII outperforms RTA* in minimizing response times