Navigation in Dynamic Envrionment

A* algorithm has been proved that it will provide optimal solutions in a static environment. We also want to introduce the A* algorithm to a dynamic environment where exists some moving objects which are unknown to the path planner, the agent. Since A* algorithm requires a perfect knowledge to the environment, we cannot directly implement A* in this situation. But we will enlarge the agent’s knowledge to the map while moving towards the goals state by detecting the moving object, so that we can use A* to plan a new optimal path from the current state to the goal state if it is necessary. The definition of ”optimal” means the path should be the shortest without colliding to the object. Our algorithm will accomplish two subgoals: collision prediction and path re-planning. The collision prediction determines whether a re-planning is necessary.