Reactive Path Planning Approach for Docking Robots in Unknown Environment

Algorithm 3

DAPF path planning algorithm.

Input:  , , , , ,

Output:  

  (1)  

  (2)  ,

  (3)  

  (4)  while    do

  (5)   if    then

  (6)     Algorithm 2

  (7)    end  if

  (8)   

  (9)    follow

  (10)  end  while