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I want to do path planning in dynamic environment in which obstacles keep changing. Could you suggest me good path planning algorithm for this? . Is D* algorithm suitable for me to achieve this in simulation?

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  • $\begingroup$ D* is similar to A* very complicated to implement, I'd like to suggest an algorithm without any heuristics which is using the CPU with 100%. $\endgroup$ – Manuel Rodriguez Jul 13 '19 at 18:01
  • $\begingroup$ So what are the algorithms you would suggest me for calculating shortest paths in dynamic environments other than D*? Is D* lite easy to implement?. Is Potential field Algorithm a right choice for calculating shortest path? $\endgroup$ – Saad Jul 13 '19 at 23:00
  • $\begingroup$ If it's unclear which algorithm is the right one, a best practice method is to create a failed project. The idea is to show that D* isn't able to find the path for the robot because the map is too large. This creates a spot on the weakness. $\endgroup$ – Manuel Rodriguez Jul 14 '19 at 8:00
  • $\begingroup$ VFH algorithm could do it! $\endgroup$ – JJerome Jul 18 '19 at 3:18
  • $\begingroup$ VFH is obstacle avoidance algorithm as i studied, i want the algorithm which computes shortest path in terms of distance towards the goal? $\endgroup$ – Saad Jul 18 '19 at 19:32
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Have you considered using the Vector Field Histogram (VFH) algorithm for path planning in an environment with dynamic obstacles?

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Can shortest path be computed using potential field path planning algorithm? Or is it just for obstacle avoidance and navigative towards goal? As i studied potential field deals with attracrive/repulsive forces, its not for shortest path finding.

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  • $\begingroup$ What you could do, is to start off your planning with A star, then when you start moving in the planned path when you encounter dynamic obstacles perform VFH to get around your dynamic obstacle. One you are clear, perform A Star again. This would be one way of doing it. $\endgroup$ – JJerome Jul 18 '19 at 23:36
  • $\begingroup$ (1)Can i use potential field algorithm for dynamic obstacle avoidance instead of VFH as i have a good understanding of potential field algorithm with A* algorithm? (2) Is implementing D* lite complicated as compared to A*? $\endgroup$ – Saad Jul 19 '19 at 9:40

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