Development of an Effective Path-Planning for Dynamic Environment

Abstract

This study proposes an effective hierarchical path-planning for dynamic environment. To adapt proposed framework, we present the structure of hierarchical navigation system with modified Rapidly exploring Random Tree(RRT) and A*. The A* algorithm generate way-point. And then, modified RRT connects way-point with sensing a dynamic environment. To improve a driving condition, we modified the RRT adding a average filter and B-spline interpolation. Additionally, we used multi-thread based RRT to overcome the RRT limitation. It can improve a limitation of single algorithm, user's comfortable, and driving path. Through several simulation, we evaluate the proposed algorithm. As a result, this algorithm shows a stable path-planning performance.