Efficient Online Path Planning Algorithm for Mobile Robots in Dynamic Indoor Environments

摘要

An efficient modified <TEX>$D^*$</TEX> lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on <TEX>$D^*$</TEX> Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified <TEX>$D^*$</TEX> Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.