Abstract
In this paper, the problem of path planning is studied for the case of a mobile robot moving in a priori unknown indoor environment, with static obstacles. There is often a need to replan paths online based on information extracted from the surroundings. The environment is modeled as a grid-map form of environment. The online replanning problem is solved using a new approach for \( A^{*} \) algorithm, called \( OA^{*} \); Online \( A^{*} \) allowing the mobile robot navigate through obstacles in unknown environment and find the shortest feasible path from an initial position to a target position by avoiding the obstacles. Simulation results show the applicability and the feasibility of the approach.
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Emharraf, M., Saber, M., Rahmoun, M., Azizi, M. (2016). Online Local Path Planning for Mobile Robot Navigate in Unknown Indoor Environment. In: El Oualkadi, A., Choubani, F., El Moussati, A. (eds) Proceedings of the Mediterranean Conference on Information & Communication Technologies 2015. Lecture Notes in Electrical Engineering, vol 381. Springer, Cham. https://doi.org/10.1007/978-3-319-30298-0_8
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DOI: https://doi.org/10.1007/978-3-319-30298-0_8
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