Real-Time Path Planning for Robot Using OP-PRM in Complex Dynamic Environment.

During task execution, the autonomous robots would likely pass through many narrow corridors along with mobile obstacles in dynamically complex environments. In this case, the off-line path planning algorithm is rather difficult to be directly implemented to acquire the available path in real-time. Hence, this article proposes a probabilistic roadmap algorithm based on the obstacle potential field sampling strategy to tackle the online path planning, called Obstacle Potential field-Probabilistic Roadmap Method (OP-PRM). The obstacle potential field is introduced to determine the obstacle area so as to construct the potential linked roadmap. Then the specific range around the obstacle boundary is justified as the target sampling area. Based on this obstacle localization, the effectiveness of the sampling points falling into the narrow corridors can be increased greatly for feasible roadmap construction. Furthermore, an incremental heuristic D* Lite algorithm is applied to search the shortest paths between the starting point and the target point on the roadmap. Simulation experiments demonstrate that the OP-PRM path planning algorithm can enable robots to search the optimal path fast from the starting point to the destination and effectively cross narrow corridors in complex dynamic environments.