Rapidly Replanning A*

In this paper, Rapidly Replanning A* (RRA*) algorithm is proposed for path planning and replanning in partially unknown environments. RRA* uses an effective mechanism to reuse previous search results, which considerably accelerates its replanning process compared to repetitive replanning from scratch. RRA* guarantees to find an optimal path from the current location of an agent to its target location based on the available information. Simulation results verify the optimality of the path generated by RRA* and the superior efficiency of RRA* in path replanning.