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      FreeD*: a mechanism for finding a short and collision free path

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          Abstract

          Path planning is extensively used in different fields not only in robotics but also in games, manufacturing, auto-motive applications, and so on. Robot path planning is one of the major research issues in the area of autonomous mobile robot. The critical step in path planning problem is to find the shortest path from the start position to a defined goal position through a known, unknown, or partially known environment. Hazardous events that may devastate some parts of the intended area convert those areas to untraversable areas. These events introduce topological constraints for the robot motion because of information discrepancy about the environment before and after the damage. In this study, the authors propose a novel method, FreeD*, to find the shortest path by exploiting the benefits of D*, Dijkstra, and artificial potential field (APF) algorithms. The generated path using D* is optimised using Dijkstra by combining D* sub-paths into a single diagonal path if there is no known obstacle between them. Then, APF is used in unknown obstacle avoidance. The simulation results using Webots simulator demonstrate the effectiveness of FreeD* in avoiding unknown obstacles with shortest path.

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          Most cited references 14

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          Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

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            A potential field approach to path planning

             N. Ahuja,  Y.K. Hwang (1992)
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              Dynamic path planning for a mobile automaton with limited information on the environment

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                Author and article information

                Contributors
                Journal
                IET-CSR
                IET Cyber-systems and Robotics
                IET Cyber-syst. Robot.
                The Institution of Engineering and Technology
                2631-6315
                9 September 2019
                4 October 2019
                October 2019
                : 1
                : 2
                : 55-62
                Affiliations
                [1 ] Department of Computer Science, New Brunswick University , New Brunswick, Canada
                [2 ] Computer Engineering Department, King Fahd University of Petroleum & Minerals , Dhahran, Kingdom of Saudi Arabia
                Article
                IET-CSR.2019.0001 CSR.2019.0001.R2
                10.1049/iet-csr.2019.0001

                This is an open access article published by the IET and Zhejiang University Press under the Creative Commons Attribution License ( http://creativecommons.org/licenses/by/3.0/)

                Page count
                Pages: 0
                Product
                Funding
                Funded by: King Abdulaziz City for Science and Technology
                Award ID: 11-ELE2147-4
                Categories
                Research Article

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