Path planning with modified A star algorithm for a mobile robot

被引：539

作者：

Duchon, Frantisek

Babinec, Andrej

Kajan, Martin

Beno, Peter

Florek, Martin

Fico, Tomas

Jurisica, Ladislav

机构：

来源：

MODELLING OF MECHANICAL AND MECHATRONIC SYSTEMS | 2014年 / 96卷

关键词：

path planning; A* algorithm; Basic Theta*; Phi*; Jump Point Search;

D O I：

10.1016/j.proeng.2014.12.098

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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. (C) 2014 The Authors. Published by Elsevier Ltd.

引用

页码：59 / 69

页数：11

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