Dynamic Path Planning and Replanning for Mobile Robots using RRT*
This addresses path planning challenges for mobile robots in dynamic environments, but it appears incremental as it builds on existing RRT* techniques.
The paper tackles the problem of dynamic path planning for mobile robots in environments with unpredictable moving obstacles by proposing a replanning method using RRT*. The results demonstrate the method's effectiveness through various experiments, though no specific numerical improvements are provided.
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many, of these unknown and unpredictable moving obstacles. The robot will need to decide how to proceed when one of these obstacles is obstructing it's path. A method of dynamic replanning using RRT* is presented. The robot will modify it's current plan when an unknown random moving obstacle obstructs the path. Various experimental results show the effectiveness of the proposed method.