A new solution for path planning in partially known or unknown environment for nonholonomic mobile robots

Abstract

This paper presents the theoretical analysis of different methods, which can be used in online path generation for mobile robots with nonholonomic constraints in a partially known workspace. Then the new method is introduced which works very fast and gives the optimal path in a complex environment. The algorithm of the presented method is based on A∗ graph searching with the nodes placed in the discretized configuration space. This paper is focused on the analysis of different heuristic cost functions and introduces a new statement of this function. The presented method is equipped with the procedures of fast path replanning — very useful in partially known workspaces. The series of simulation tests and experimental results of online control for car-like robot are also discussed.