Staff Members - Benha University
[ICMIC - 2013] Modified A* Algorithm for Safer Mobile Robot Navigation
• 2013
Publication Information
Authors
Basem M. ElHalawany, Hala M.Abdel-Kader, Adly TagEldeen, Alaa Eldeen Elsayed ,Zaki B.Nossair
Keywords
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Journal
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Publisher
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Volume
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Issue
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Pages
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publication.type
International
Paper Link
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Supplementary Materials
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Abstract
Mobile robot navigation is a very important task in
all robot applications from domestic service cleaning machine to
highly sophisticated industrial robotic applications. In this paper,
we investigated, and evaluated the well-known A* path planning
algorithm. The standard A* algorithm is capable of finding out
the most optimal path of the robot. A grid-based map obtained
from the vision-based obstacle detection system in [2] as an input
to the A* algorithm. Standard A* does not take the size of the
robot into consideration which could produce unsafe paths for
the robot to follow and collision could be occurs. Our proposed modified A* algorithm takes the robot size as a parameter to generate a safer path for the robot and avoid sharp turns. The Direction of Arrival (DOA) is used as a restriction to the path planning process which is a requirement in some robotic applications.
all robot applications from domestic service cleaning machine to
highly sophisticated industrial robotic applications. In this paper,
we investigated, and evaluated the well-known A* path planning
algorithm. The standard A* algorithm is capable of finding out
the most optimal path of the robot. A grid-based map obtained
from the vision-based obstacle detection system in [2] as an input
to the A* algorithm. Standard A* does not take the size of the
robot into consideration which could produce unsafe paths for
the robot to follow and collision could be occurs. Our proposed modified A* algorithm takes the robot size as a parameter to generate a safer path for the robot and avoid sharp turns. The Direction of Arrival (DOA) is used as a restriction to the path planning process which is a requirement in some robotic applications.