Path Planning on Robot Based on D* Lite Algorithm

Abstract

The increasing need of autonomous behavior of robots in fields of science and technology formed the requirement for path planning implemented by the robot without the human assistance. In this paper, D* Lite, which is a path planning graph-based algorithm, was used in order to compute the shortest path from a start to goal point in a real environment and make a Pepper robot move in a computed trajectory. The movement of robot was conducted in a static environment, with the map of the environment already known. This paper is a first step in the research focusing on a creation of a so-called intelligent workspace.