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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.