Lee-algorithm based path replanner for dynamic environments

The presented paper introduces a new procedure, based on well-known Lee´s algorithm, for vehicle collisionless path determination in dynamically-changing environments. Such routes need to be updated on-the-fly to take into account moving obstacles or newly detected objects. The main idea of the proposed approach is to first, identify regions where environment has changed and to execute a procedure of selective path updates. As a result, an optimal path can be derived at a computational expense comparable to the heuristic Lifelong A* search.