Mission Planning technology of Mobile Robots based on SD∗Lite

Probing the unknown and harsh environment by Mobile Robot is the inexorable trend of Automation for the future. As an important technique, Mission Planning is the core of Mobile Robot technology. The existing technologies of Mission Planning method separate the path planning and the behavior planning, the two work independently. In fact, they are mutual influence. This paper deals with a kind of the plan method of “walking — judging — insert behavior — walking”, and detect the visibility of expanded nodes, which provides the guide points for the robot and supports the robot action planning.