Path Planning Using an Improved A-star Algorithm

Chunyu Ju, Qinghua Luo, Xiaozhen Yan

20202020 11th International Conference on Prognostics and System Health Management (PHM-2020 Jinan)158 citationsDOI

Abstract

There has been a heated issue in the field of robotics about how to plan the shortest path of a map with obstacles. This papers mainly analysis the issues about the path planned are not the shortest path by the A-star algorithm under certain conditions. An effective method is proposed which is called an improved A-star algorithm. The improved A-star algorithm is proposed to solve path planning under certain conditions, which can find a shorter path in contrast of other related methods. The simulation results show that the proposed algorithms are effective to settle above the issue, in which the path generated by the improved A-star algorithm has a shorter path than the path of other improved A-star algorithms.

Topics & Concepts

A* search algorithmShortest path problemPath (computing)Yen's algorithmStar (game theory)Motion planningAlgorithmK shortest path routingFast pathComputer scienceConstrained Shortest Path FirstWidest path problemAny-angle path planningLongest path problemShortest Path Faster AlgorithmArtificial intelligenceDijkstra's algorithmMathematicsRobotTheoretical computer scienceGraphMathematical analysisProgramming languageRobotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationData Management and Algorithms