Path planning of mobile robot based on improved D* Lite_TEB algorithm

The D*Lite algorithm can address the path planning issue of mobile robot, but generates a path that is not smooth and is close to barriers, which makes collisions likely. To address these issues, a modified algorithm based on D*Lite algorithm and Time Elastic Band (TEB) is presented. The major improvement of the D*Lite algorithm is that remove path redundancy points to shorten the length of path and use B-spline curve to smooth the constrained path. The modified D*Lite algorithm is fused with TEB algorithm to generate a fusion path planning algorithm, which is simulated and verified. The laboratorial results reveal that when the fusion algorithm is applied for path planning, the global path is smooth without collision with obstacles and the local path meets the kinematic constraints of the robot. Compared with a traditional D*Lite algorithm, the path is shortened by 5.3%, the quantity of path nodes is decreased by 96.6% and the quantity of turning times is reduced by 50.0%.