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.
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