The two problems of planning trajectories in unpredictable dynamic environment and in partially-known environments are equivalent. In both cases the robot has to adapt its plans continuously to changes in (its knowledge of) the world. In this section we present a dynamic version of the Fast Marching algorithm called DFM and we compare it to A*, FM, FM* and D* Lite algorithms in simulated 2D environments. The DFM based trajectory planning method is eventually tested in a real open water environment using the AUV prototype of the Ocean Systems Laboratory.
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