A New Real-Time Path Planning Method Based on the Belief Space

<table>The sketch map of S-DSE at time <svg height="10.3875" id="M161" style="vertical-align:-0.11285pt" version="1.1" viewbox="0 0 5.9250002 10.3875" width="5.9250002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>: DSE points set is <svg height="15.4" id="M162" style="vertical-align:-3.22278pt" version="1.1" viewbox="0 0 34.262501 15.4" width="34.262501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,11.013,15.187)"><path d="M797 0h-214v26q46 5 58 17.5t12 63.5v167q0 116 -88 116q-48 0 -112 -52q3 -18 3 -42v-195q0 -46 11 -58t53 -17v-26h-214v26q48 5 59.5 17t11.5 60v172q0 115 -88 115q-47 0 -109 -52v-235q0 -47 10 -59.5t48 -17.5v-26h-211v26q50 5 62.5 17t12.5 60v207q0 48 -9 59.5
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</svg>, and safe distance set is <svg height="15.05" id="M163" style="vertical-align:-2.26974pt" version="1.1" viewbox="0 0 25.775 15.05" width="25.775" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.112)"><path d="M293 -169q-145 0 -145 128q0 35 4 106t3 104q0 17 -2 28t-10 25.5t-28 23t-51 10.5v29q31 2 51 10.5t28 23t10 25.5t2 28q0 31 -4 101t-3 104q0 132 145 132v-28q-51 -7 -67.5 -30t-16.5 -63q0 -32 6.5 -99.5t6.5 -100.5q0 -97 -83 -115v-4q83 -20 83 -117
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q0 -37 -4 -106.5t-4 -98.5q0 -18 2 -30t10 -27t28 -23.5t51 -10.5v-29z" id="x7D"></path></g>
</svg>, and safe distance set is <svg height="23.6" id="M164" style="vertical-align:-2.26974pt" version="1.1" viewbox="0 0 58.650002 23.6" width="58.650002" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,20.662)"><path d="M293 -169q-145 0 -145 128q0 35 4 106t3 104q0 17 -2 28t-10 25.5t-28 23t-51 10.5v29q31 2 51 10.5t28 23t10 25.5t2 28q0 31 -4 101t-3 104q0 132 145 132v-28q-51 -7 -67.5 -30t-16.5 -63q0 -32 6.5 -99.5t6.5 -100.5q0 -97 -83 -115v-4q83 -20 83 -117
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<g transform="matrix(.008,-0,0,-.008,22.512,6.8)"><path d="M227 744l-123 -338l-31 15l73 368q12 3 41.5 -8t36.5 -20z" id="x2032"></path></g>
<g transform="matrix(.017,-0,0,-.017,26.288,20.662)"><path d="M95 130q31 0 61 -30t30 -78q0 -53 -38 -87.5t-93 -51.5l-11 29q77 31 77 85q0 26 -17.5 43t-44.5 24q-4 0 -8.5 6.5t-4.5 17.5q0 18 15 30t34 12z" id="x2C"></path></g><g transform="matrix(.017,-0,0,-.017,32.985,20.662)"><path d="M445 282q0 -64 -27.5 -125t-80.5 -104q-80 -65 -168 -65q-73 0 -109.5 46.5t-36.5 116.5q0 92 46.5 163t119.5 104q66 30 108 30q67 0 107.5 -43.5t40.5 -122.5zM355 280q0 62 -26.5 94.5t-64.5 32.5q-26 0 -44 -8q-39 -18 -74 -82t-35 -163q0 -57 25.5 -90.5t70.5 -33.5
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</svg>.</table>

Abstract and Applied Analysis

A New Real-Time Path Planning Method Based on the Belief Space

Figure 10