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http://dx.doi.org/10.5302/J.ICROS.2011.17.7.651

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

Kang, Tae-Ho (KAIST)
Kim, Byung-Kook (KAIST)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.7, 2011 , pp. 651-658 More about this Journal
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.
Keywords
mobile robot; online path planning; $D^*$ Lite algorithm;
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