Path optimization for D-star algorithm modification

The main task of mobile robots is to follow the route quickly and without damage. For this reason, it is important to solve the problem of navigation for mobile robots. There are some methods. One of the most effective is the method of constructing a navigation system based on the simultaneous localization and mapping algorithm and obstacle avoidance algorithms. The D-star algorithm often used for obstacles avoidance, but despite its effectiveness, it has some drawbacks. Previously a modification was described that allows to eliminate some problems arising during the implementation of the navigation system. In this article we presented the optimization of the path for that modification which allows to avoid wasting time on stopping and turning in the right direction.