Solving find path problem in mapped environments using modified A* algorithm

Author

Fan, Kuo-Chin ; Lui, Po-Chang

Author_Institution

Inst. of Comput. Sci. & Electron. Eng., Nat. Central Univ., Chung-Li, Taiwan

Volume

24

Issue

9

fYear

1994

fDate

9/1/1994 12:00:00 AM

Firstpage

1390

Lastpage

1396

Abstract

Presents a path planning algorithm to solve the find path problem in mapped environments. The moving objects considered in this paper can be any shape, which is approximated by its bounding convex polygon. Since the actual translating and rotating movement of the object in the free space is considered in the finding of a collision-free path, it won´t miss those paths which require rotational maneuvering. In addition to the progressing strategy, a modified A* algorithm based on the revised depth-first search in setting up the h´ value is also proposed to find the optimal path. From the experimental results, the modified A* algorithm is proved to be a very good method

Keywords

computerised navigation; mobile robots; path planning; search problems; bounding convex polygon; collision-free path; find path problem; h´ value; mapped environments; modified A* algorithm; path planning algorithm; progressing strategy; revised depth-first search; rotational maneuvering; Computational efficiency; Computer science; Councils; Joining processes; Navigation; Orbital robotics; Path planning; Search problems; Shape;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.310516

Filename

310516