Dynamic Path Planning and Replanning for Mobile Robot Team Using RRT*
AdvisorLa, Hung M
Computer Science and Engineering
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It is necessary for a mobile robot to be able to efficiently plan a path from itsstarting or current location to a desired goal location. This is a trivial task when theenvironment is static. However, the operational environment of the robot is rarelystatic, and it often has many moving obstacles. The robot may encounter one, ormany, of these unknown and unpredictable moving obstacles. The robot will need todecide how to proceed when one of these obstacles is obstructing it's path. A methodof dynamic replanning using RRT* is presented. The robot will modify its currentplan when an unknown random moving obstacle obstructs the path. In multi-robotscenarios it is important to efficiently develop path planning solutions. A methodof node sharing is presented to quickly develop path plans for a multi-robot team.Various experimental results show the effectiveness of the proposed methods.