Abstract
This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D* (AD*) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD* algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify the rapidity and robustness of the method.
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