Online Local Path Planning for Mobile Robot Navigate in Unknown Indoor Environment

In this paper, the problem of path planning is studied for the case of a mobile robot moving in a priori unknown indoor environment, with static obstacles. There is often a need to replan paths online based on information extracted from the surroundings. The environment is modeled as a grid-map form of environment. The online replanning problem is solved using a new approach for \( A^{*} \) algorithm, called \( OA^{*} \); Online \( A^{*} \) allowing the mobile robot navigate through obstacles in unknown environment and find the shortest feasible path from an initial position to a target position by avoiding the obstacles. Simulation results show the applicability and the feasibility of the approach.