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98 | Al-Ansarry, Al-Darraji & Honi
Fig. 8. Snapshots of Real-Time Dynamic Path Planning
of the Dijkstra algorithm. environments, such as 3D environments and environments
with multiple robots. These improvements and extensions
IV. CONCLUSION will further demonstrate the potential of the proposed method
for mobile robotics applications.
In this paper, a new path planning method was proposed that
combines the strengths of Dijkstra’s algorithm and the Poten- CONFLICT OF INTEREST
tial Field obstacle avoidance method to provide a robust and
efficient solution for online path planning in 2D environments The authors have no conflict of relevant interest to this article.
with dynamic obstacles. The proposed method (Dynamic D-
PF) consists of two phases: Path Generation, Path Selection. REFERENCES
The results of the experiments showed that the proposed Dy-
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