Real-Time Path Planning for Strategic Missions
João Vítor R. Vasconcelos, Alexandre Santos Brandao, Mário Sarcinelli-Filho · Applied Sciences · 2020
Robot navigation is still an open research topic, mainly regarding applications that require online planning. In this context, this manuscript presents an implementation of the Lifelong Planning A* (LPA*) search algorithm to guide a mobile robot in an environment that changes along time, by detecting obstacles and updating the current mapping information. Firstly, simulations validate the strategy, and later experiments confirm these results considering a real application. The result is that the LPA* algorithm is able to guide the mobile robot to its target in a changing environment. Obstacles are interactively included in the scene to force the route redesign and the seeking for a new optimal solution connecting the current robot position and its target position.