Open AccessD* lite algorithm based path planning of mobile robot in static Environment
Author(s) -
Pradipta Kumar Das,
S. N. Patro,
C. N. Panda,
Bunil Kumar Balabantaray
Publication year - 2012
Publication title -
international journal of computer and communication technology
Language(s) - English
Resource type - Journals
eISSN - 2231-0371
pISSN - 0975-7449
DOI - 10.47893/ijcct.2012.1158
Subject(s) - motion planning , computer science , mobile robot , path (computing) , position (finance) , heuristic , robot , grid reference , plan (archaeology) , shortest path problem , grid , metric (unit) , mathematical optimization , real time computing , algorithm , artificial intelligence , engineering , mathematics , theoretical computer science , graph , computer network , operations management , geometry , archaeology , finance , economics , history
In this paper, we study the path planning for khepera II mobile robot in an unknown environment. The well known heuristic D* lite algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. and to perform efficient re-planning during exploration. The proposed path finding strategy is designed in a grid-map form of an unknown environment with static unknown obstacles. The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. When the mission is executed, it is necessary to plan an optimal or feasible path for itself avoiding obstructions in its way and minimizing a cost such as time, energy, and distance. In our study we have considered the distance metric as the cost function.