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In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updateddoi:10.12777/ijse.4.2.2013.34-38 fatcat:jivvhe5an5d7vadoxtdcpzwqlm