Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Efficient Online Path Planning Algorithm for Mobile Robots in Dynamic Indoor Environments

이동 로봇을 위한 동적 실내 환경에서의 효율적인 온라인 경로 계획 알고리즘

  • Received : 2011.02.10
  • Accepted : 2011.04.19
  • Published : 2011.07.01
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Abstract

An efficient modified $D^*$ 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 $D^*$ Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified $D^*$ Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.

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References

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