Sampling-Based Path Planning Algorithm Considering Moving Obstacles Based on RRT*

Path planning is an essential part of planning in robotics systems. It generates robot trajectory that avoids collision with obstacles. Besides static obstacles, we need to also consider moving obstacles in a dynamic environment. In multi-agent systems, these obstacles often have known trajectory that must be avoided. Related works in sampling-based algorithms proposed a re-planning mechanism to consider the moving obstacle. However, those algorithms assume that the obstacles are fixed in each re-planning step. The paper proposed a novel algorithm based on RRT* that considers moving obstacles that consider known spatial-temporal trajectory of moving obstacles. The simulation result shows that the proposed algorithm can generate collision-free trajectory with comparable performance with baseline RRT*.