Abstract
This paper introducesa method to extract a task knowledge from an example shown by an operator or generated by a planner, and to apply the knowledge to plan apath in similar environments. Our aim is to make efficient use of learning task resource and to plan a path in complex environments easily. Our method is based on the A* algorithm. We developed a technique to generate a suboptimal path with quite less amount of search nodes than the traditional A* algorithm, and to make a heuristic function that includes task knowledge. Examples are shown to verify the effect of our method.
