Research of Incremental Path Planning Methods for Mobile Robots Based on The D Lite Algorithm*

Abstract

The article considers modern approaches to building mobile robot routes in dynamic environments. An analysis of classical and incremental routing algorithms is conducted. The feasibility of using the D* Lite algorithm for adaptive route planning tasks is substantiated. The architecture of a mobile robot route building software system based on the D* Lite algorithm is proposed. The results obtained confirm the effectiveness of using incremental methods to increase the speed and adaptability of autonomous robotic systems