Lagrangian based A* algorithm for automated reasoning

TL;DR

This paper introduces a modified A* algorithm incorporating velocity as a heuristic weight, enhancing efficiency for UAV path planning and potentially benefiting other dynamic system problems.

Contribution

It proposes a novel A* modification using Lagrangian calculus to identify velocity as a key heuristic factor for improved path planning.

Findings

Enhanced efficiency in UAV path planning

Effective use of velocity as heuristic weight

Potential applicability to other dynamic problems

Abstract

In this paper, a modification of A* algorithm is considered for the shortest path problem. A weightage is introduced in the heuristic part of the A* algorithm to improve its efficiency. An application of the algorithm is considered for UAV path planning wherein velocity is taken as the weigtage to the heuristic. At the outset, calculus of variations based Lagrange's equation was used to identify velocity as the decisive factor for the dynamical system. This approach would be useful for other problems as well to improve the efficiency of algorithms in those areas.