Efficient Online Path Planning Algorithm for Mobile Robots in Dynamic Indoor Environments
Tae-Ho Kang, Byung-Kook Kim · Journal of Institute of Control Robotics and Systems · 2011
An efficient modified $D^*$ lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on $D^*$ Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified $D^*$ Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.