An RRT-Based Path Planning Strategy in a Dynamic Environment

The real-time RRT-based path planning strategy is designed for the non-holonomic robot in a dynamic environment. The sampling-based strategy, which consists of a pre-processing RRT path planner and a real-time planner, navigate the robot to avoid the unknown moving obstacle, which is time-varying or move randomly. Additionally, the algorithm contains a simple temporary target determination function, and ensures its feasibility in the target-unknown situation. It decreases the real-time computational complexity because of the omission of moving obstacle segmentation, velocity computation, or original path replanning. The feasibility of the navigation strategy is verified by using computation simulation.