12. Hybrid A* Heuristics
Hybrid A* Heuristics
The paper Junior: The Stanford Entry in the Urban Challenge is a good read overall, but Section 6.3 - Free Form Navigation is especially good and goes into detail about how the Stanford team thought about heuristics for their Hybrid A* algorithm (which they tended to use in parking lots).
Read section 6.3 of the paper and then answer the following question:
Quiz: Valid Heuristics
If you have two individually admissible heuristic functions h_1 and h_2 , which of the following combinations are also valid?
SOLUTION:
- (h1 + h2) / 2
- min(h1, h2)
- max(h1, h2)