Reactive Path Planning Approach for Docking Robots in Unknown Environment

Algorithm 2

Path replanning algorithm.

  Input:   , , , , , , , ,

    ,

  Output:  

    (1)  

    (2)  while true do

    (3)   

    (4)   if    then

    (5)    , obtain

    (6)    if    then

    (7)     ,

    (8)    end if

    (9)    

    (10)  if   is not collision-free then

    (11)     ,

    (12)     continue

    (13)    end if

    (14)    ,

    (15)    

    (16)    if   is not collision-free then

    (17)     Replan with Algorithm 2

    (18)    else

    (19)     

    (20)    end if

    (21)   else

    (22)    break

    (23)   end if

    (24)  end while