A study of improvement of D* algorithms for mobile robot path planning in partial unknown environments

摘要

Purpose The purpose of this paper is to improve the D* algorithm which has been used usually in robotics for mobile robot navigation in unknown or dynamic environments. Design/methodology/approach First, the model of 2D workspace with some obstacles is expressed in regularity grids. The optimal path is planned by using the improved D* algorithm by searching in the neighbor grid cells in 16 directions. It makes the robot that the smallest turning angle drops to π/8. The robot moving angle discrete precision is raised and the unnecessary cost of path planning is reduced so the robot motion path is smoother. Then, the improved D* algorithm is simulated in MOBOTSIM software environment and is tested by the WiRobotX80 mobile robot. Findings To search in the neighbor grid cells in 16 directions instead of eight directions by using D* algorithms for path planning. Research limitations/implications The map should be expressed in regularity grids. Originality/value The improved D* algorithm is effective and it can result in a higher quality path than the conventional D* algorithm at the same map environment.