engleski

Integration of Focused D* and Witkowski's algorithm for path planning and replanning

The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski's algorithm. The FD* algorithm is used for fast replanning and Witkowski's algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space based on the grid map calculations. The path optimality is proved. Path planning is used together with Dynamic Window local obstacle avoidance algorithm to produce smooth robot motion. The algorithms were tested using Pioneer 3DX mobile robot equipped with a laser range finder.

Graph search; path planning; Euclidean shortest path; mobile robotics

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