A Recursive Receding Horizon Planning for Unmanned Vehicles

In the proposed algorithm, the map is described by grids in which nodes are defined on corners of grids. The planning algorithm considers the map as four areas, namely, implementation, observation, explored, and unknown.

The Implementation area is a subset of the Observation area, whereas the Explored area is the union of all the previous Observation areas. The path is planned with a receding horizon planning strategy to generate waypoints and in-between map updates. When a new map update occurs, the path is replanned within the current Observation area if necessary.