Double-Safe-Edges Algorithm (DSE): A New Real-Time Path Planning Approach

This paper presents a new real-time path planning algorithm in dynamic uncertainty environment, and it has well real-time and high applicability. This algorithm is composed by two parts. The first part is the analysis and interpretation of the environment information by searching the characteristic information (double safe edges DSE), so the algorithm can catch the dynamic obstacle and estimate the state of the dynamic obstacle, and update the characteristic information to the second part of the algorithm at the same time. The second part is the choice of the local goal to generate the motion command by using the heuristic algorithm. The heuristic is a rule which can choice the optimal local goal through the cost function. These two parts of the algorithm will plan the path at each time until the robot reach the goal. The result of the simulation has proved that the DSE algorithm has well real-time and high applicability in dynamic uncertainty environment.