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Don't have the faintest idea how probability can be used in an A* problem, but here is an admissible heuristic:
- Onur Cobanoglu July 11, 2010I assume that the robot always goes 1 unit in the direction it's heading, and at each node of the grid we have the options of turning or not turning. I'm assuming the robot can turn only 90 degrees at each time (the heuristic can be modified according to the changes in this assumption):
- If the robot is currently heading on a Manhattan path from its current point to the point B, then check whether there are any obstacles on this Manhattan path. If there isn't, then let the heuristic return 1. If there is, let the heuristic return 2 (obviously, the robot cannot go straightly on the Manhattan path, it will require extra maneuvers).
- If the robot is currently NOT heading on a Manhattan path from its current point to the point B, then it means that it's currently getting away from B. It will require at least 2 turns to enter a course approaching B. So a naive heuristic function may give only 2 in this situation (a better one can be designed to take the possible Manhattan paths after turnings into account, but my brain is exhausted by now. Maybe later I can come up with one).