An open-close table based path-planning algorithm for partially updated distance map

By adapting an OPEN-CLOSE table, a path planning algorithm and a distance map updating algorithm are represented in this paper. By using active window restrictions to improve the implementation efficiency, and by increasing the number of barriers/obstacles in a partially known environment, we showed that the calculation time for map updating and path planning is controversially decreased, which shows the specific performance of algorithms presented in this paper. The experimental results also show in detail that after reaching to a certain number of obstacles, the length of the updating list in the OPEN-CLOSE table becomes shorter, which makes the time needed for map updating and path planning become gradual. The algorithm presented in this paper can be practically used under the circumstances like transporting waste in hospitals or escorting people in exhibitions [14].