id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
american_scientific_journal-4515	Raheem, Firas A.; Hameed, Umniah I.	Path Planning Algorithm using D* Heuristic Method Based on PSO in Dynamic Environment	2018	15	.pdf	application/pdf	5600	185	49	X, cm X, cm X, cm X, cm X, cm X, cm Y , c m Y , c m Y , c m Y , c m Y , c m Y , c m American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) (2018) Volume 49, No 1, pp 257-271 268 0 50 100 150 200 250 300 107 107.5 108 108.5 Iteration B es t C os t 10 20 30 40 50 60 70 80 90 100 110 10 20 30 40 50 60 70 80 90 100 110 Target Start X, m Y , m PSO Path, Non-interactive Environment 2 Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Figure 8: The heuristic D* path planning for the second environment Figure 9: (a) represents D* path and PSO path, (b) represents the best cost of PSO path Table 1: Environments information environment Population Iteration D* path PSO path 1 50 300 106.5685 cm 102.6672 cm 2 50 300 110.6690 cm 106.6039 cm Motion Sample=84 Reaching Goal (b) (a) (g) (h) PSO path D* path X, cm X, cm X, cm Y , c m Y , c m Y , c m American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) Motion Sample=23 Motion Sample=45 Static Obstacles (a) (b) (c) (d) X, cm X, cm X, cm X, cm Y , c m Y , c m Y , c m Y , c m American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) (2018) Volume 49, No 1, pp 257-271 265 0 50 100 150 200 250 300 102.6 102.8 103 103.2 103.4 103.6 103.8 104 104.2 104.4 104.6 Iteration B es t C os t 10 20 30 40 50 60 70 80 90 100 110 10 20 30 40 50 60 70 80 90 100 110 Target Start X, m Y , m PSO Path, Non-interactive Environment 1 Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Start Target Figure 5: The heuristic D* path planning for the first environment Figure 6: (a) represents D* path and PSO path, (b) represents the best cost of PSO path Motion Sample=75 Motion Sample=59 Motion Sample=65	cache/american_scientific_journal-4515.pdf	txt/american_scientific_journal-4515.txt