Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Algorithm 3

The DAPF path planning approach.

Input: , , , , ,

Output:

(1)

(2)

(3) whiledo

(4) ifthen

(5) ,

(6) whiledo

(7)

(8)

(9) ifthen

(10) , ,

(11) continue

(12) end if

(13)

(14) ifthen

(15) Replan

(16) else

(17)

(18) end if

(19) end while

(20) end if

(21)

(22) follow

(23) end while