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http://dx.doi.org/10.6109/jkiice.2010.14.3.663

VTA* Algorithm: A* Path-Finding Algorithm using Variable Turn Heuristic  

Kim, Ji-Soo (동서대학교 컴퓨터정보공학부)
Cho, Dae-Soo (동서대학교 컴퓨터정보공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.14, no.3, 2010 , pp. 663-668 More about this Journal
Abstract
In driving a car, turns such as left turns, right turns, or u-turns, make the speed of the car decrease considerably. A more straight path, therefore, is probably faster to arrive at the destination than zig-zag path with same distance. In this paper, we have newly proposed the turn heuristic to make more straight path. The path navigation algorithm with turn heuristic(called as TA* algorithm) could enhance the straightness of a path by putting the turned-edges to the turn cost. It requires higher cost to use TA* algorithm than traditional A* algorithm because the straight-edge first searching have increased the search space. We have improved the TA* algorithm into the variable TA* algorithm(called as VTA* algorithm) which adopt the turn-heuristic during the a portion of the whole path.
Keywords
Turns; A*; Turn Heuristic; Path-Finding;
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