Enhanced D<sup>∗</sup> Lite Algorithm for mobile robot navigation

Abstract

Mobile robot has been widely used in exploration and navigation and it is required to operate in domains that are completely unknown and dynamic. Unknown environment is where the locations of the obstacles are unknown and dynamic environment is where the locations of the obstacles might change with time. This research is focused on enhancing the existing D* Lite Algorithm. Existing D* Lite Algorithm is a goal-directed navigation algorithm and in this research, Enhanced D* Lite Algorithm is developed. Simulation of the Enhanced D* Lite Algorithm is created using MATLAB to verify feasibility and validity of the algorithm. Next, the Enhanced D* Lite Algorithm is implemented in real-time using Team AmigoBot™. The results obtained from both simulation and real-time implementation have proved the robustness and practicality of the enhanced algorithm.