Simulation of Dynamic Path Planning for Real-Time Vision-Base Robots

Abstract

Mobile robots work in unfamiliar and unconstructed environments with no previous knowledge. In order to prevent any collisions between the robot and the other objects, dynamic path planning algorithms are presented. Researchers have been presenting new algorithms to overcome the dynamic path planning dilemma, continuously. Most of the time, the prepared algorithm cannot be implemented to the robot directly, since potential problems in the algorithm may lead to endanger the robot or cause other safety difficulties. Hence, it is preferred to test and examine the robot's behaviour in a simulated environment, before the empirical test. In this paper, we propose a simulation of dynamic path planning algorithm. As a result of this work, D* algorithm is implemented with four different two-dimensional map modeling methods of Square Tiles, Hexagons, Enhanced Hexagons, and Octiles. Then the simulation results are compared based on their speed, number of searched cells, path cost and traveled distance, to point out the most effective map modeling methods. © Springer-Verlag Berlin Heidelberg 2013.