Improved D*Lite path planning algorithm based on slip prediction

摘要

Path planning algorithm is an important algorithm in navigation system which are commonly used in mobile robots, unmanned vehicles and automated driving. the effectiveness and speed of planning processing determine whether the target can be successfully reached . In different environments and application scenarios, the planning algorithms need to be designed based on different environmental characteristics . Based on the application scenario of the lunar rover, this paper adds the slip variable into account, designs the slip prediction module, and improves the D*Lite algorithm to more effectively carry out the path planning in the complex environment.