Mobile Robots Path Planning With Heuristic Search

Abstract

Mobile robots often operate in domains that are incompletely known. This article adresses the goal-directed navigation problem in unknown terrain where a mobile robot has to move from its current configuration to given goal configuration. We will discuss a series of tests performed with various implementations of graph search algorithms (A,D, focused D) as path planners for a mobile robot, focusing on the inherent strengths and pitfalls specific to each implementation.