Path Planning Algorithm using D* Heuristic Method Based on PSO in Dynamic Environment

摘要

This paper is devoted to find a short and safe path for robot in environment with moving obstacles such as different objects, humans, animals or other robots. A mixing approach of robot path planning using the heuristic method D star (D*) algorithm based on optimization technique is used. The heuristic D* method is chosen for finding the shortest path. Furthermore, to insure the path length optimality and for enhancing the final path, it has been utilized the Particle Swarm Optimization (PSO) technique. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains. Simulation results are given to show the effectiveness of the proposed method.