Enhanced D* Lite Algorithm for Autonomous Mobile Robot

Abstract

Autonomous Mobile Robot (AMR) has been widely used in exploration and navigation especially where static, dynamic and unknown environment is involved. In this research, Enhanced D* Lite Algorithm is developed. The research is divided into two stages where the first stage is to develop a MATLAB simulation to verify the feasibility and the validity of the algorithm. The second stage involves developing the proposed Enhanced D* Lite Algorithm, investigating and verifying this Enhanced D* Lite Algorithm in the real time implementation using Team AmigoBot TM . The performances of the Enhanced D* Lite Algorithm in both simulation and real time implementation are investigated and evaluated on various aspects. The results obtained from both simulation and real time implementation have proven the robustness and practicality of the Enhanced D* Lite Algorithm.