articleProcedia EngineeringJan 1, 2014DIAMOND OA

Path Planning with Modified a Star Algorithm for a Mobile Robot

FDFrantišek DuchoňABAndrej BabinecMKMartin KajanPBPeter BeňoMFMartin Florek

Central Statistical Office

Indexed incrossref

Abstract

This article deals with path planning of a mobile robot based on a grid map. Essential assumption for path planning is a mobile robot with functional and reliable reactive navigation and SLAM. Therefore, such issues are not addressed in this article. The main body of the article introduces several modifications (Basic Theta*, Phi*) and improvements (RSR, JPS) of A star algorithm. These modifications are focused primarily on computational time and the path optimality. Individual modifications were evaluated in several scenarios, which varied in the complexity of environment. On the basis of these evaluations, it is possible to choose path planning method suitable for individual scenario.

Citation impact

853
total citations
FWCI
9.39
Percentile
100%
References
39
Citations per year

Authors

7

Topics & keywords

Topics
Keywords
  • Motion planning
  • Mobile robot
  • Path (computing)
  • A* search algorithm
  • Computer science
  • Grid
  • Robot
  • Algorithm
UN Sustainable Development Goals
  • Sustainable cities and communities
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Funding