Path planning is an important link of the autonomous walking process of shotcrete robots,aiming at the shortcomings of the traditional A∗ algorithm in path planning,the D∗ algorithm with stronger real-time and can avoid dynamic obstacles is adopted.Using MATLAB to establish a raster map and simulate,the results show that the path planning time of D∗ algorithm is short and efficient,which is suitable for shotcrete robots to plan paths in unfamiliar environments or scenes with dynamic obstacles.
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