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Path Planning with Modified a Star Algorithm for a Mobile Robot
Open accessAbstract
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.
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Cited by
Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment
Tang, G., Tang, C., Claramunt, C., Hu, X., & Zhou, P. (2021) · IEEE Access · doi:10.1109/access.2021.3070054 · Cited by 474
Rule-Based Reinforcement Learning for Efficient Robot Navigation With Space Reduction
Zhu, Y., Wang, Z., Chen, C., & Dong, D. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3072675 · Cited by 57
Application of Deep Reinforcement Learning to UAV Swarming for Ground Surveillance
Arranz, R., Carramiñana, D., Miguel, G. D., Besada, J. A., & Bernardos, A. M. (2023) · Sensors · doi:10.3390/s23218766 · Cited by 58
Design and Development of Intelligent AGV Using Computer Vision and Artificial Intelligence
Sheth, S., Ajmera, A., Sharma, A., Patel, S., & Kathrecha, C. (2018) · Advances in Intelligent Systems and Computing · doi:10.1007/978-981-10-5687-1_31 · Cited by 19
Metadata
- Authors
- Duchoň, F., Babinec, A., Kajan, M., Beňo, P., Florek, M., Fico, T., & Jurišica, L.
- Venue
- Procedia Engineering
- Publisher
- Elsevier BV
- Published
- 2014
- Volume
- 96
- Pages
- 59-69
- ISSN
- 1877-7058 (ISSN-L)
- OpenAlex
- W1969472392
- Cited by
- 869
- References
- 0
- FWCI
- 6.85
- Type
- conference paper
- Language
- en
- Open access
- diamond
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- Duchoň, F., Babinec, A., Kajan, M., Beňo, P., Florek, M., Fico, T., & Jurišica, L. (2014). Path Planning with Modified a Star Algorithm for a Mobile Robot. Procedia Engineering. https://doi.org/10.1016/j.proeng.2014.12.098
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
