A simple path planning for Automatic Guided Vehicle in Unknown Environment

摘要

A Simple Path Planning algorithms for Automatic Guided Vehicle in Unknown Environment based on D* lite algorithm is proposed in this paper. The proposed algorithm changes method determining traversal cost of edge between two adjacent nodes to prevent AGV from traversing across obstacle's sharp corners, avoid complicated obstacles and prevent AGV from traversing in between two obstacles. The simulation and experimental results are shown to verify the effectiveness of the proposed algorithm.