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Soft Computing Techniques in Vision Science pp 183–193Cite as

Modified A* Algorithm for Mobile Robot Path Planning

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 395))

Abstract

Robot path planning is about finding a collision free motion from one position to another. Efficient algorithms for solving problems of this type have important applications in areas such as: industrial robotics, computer animation, drug design, and automated surveillance. In this paper, a modified A* algorithm is used for optimizing the path. Different from the approaches that only choose the shortest routes, this method estimates the energy consumption and chooses the most energy efficient routes. As mobile robots are powered by batteries, their energy is limited. Therefore, how to minimize energy consumption is an important problem. The basic idea is to minimize unnecessary stops and turns for mobile robots that cause acceleration and deceleration and consumes significant energy. Simulation results are presented on various environments with different levels of complexity depending on the density of the obstacles. The effectiveness of the proposed approach is evaluated in terms of number of movement steps, path length, energy consumption, number of turns and time. The experimental results show that our approach can provide effective path by reducing the number of turns compared to A*, thus saving energy. All paths generated were optimal in terms of length and smoothness.

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Authors and Affiliations

  1. Soft Computing and Expert System Laboratory, ABV-Indian Institute of Information Technology and Management, Gwalior, India

    Anshika Pal, Ritu Tiwari & Anupam Shukla

Authors
  1. Anshika Pal
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  2. Ritu Tiwari
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  3. Anupam Shukla
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Corresponding author

Correspondence to Anshika Pal .

Editor information

Editors and Affiliations

  1. , Computer Science and Engineering, SOA University, Bhubaneswar, 752 024, India

    Srikanta Patnaik

  2. , School of Electronic Engineering, Kumoh National Institute of Technology, Yahoho-dong, Gyeongbuk 1, Gumi, 730-701, Korea, Republic of (South Korea)

    Yeon-Mo Yang

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© 2012 Springer-Verlag Berlin Heidelberg

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Pal, A., Tiwari, R., Shukla, A. (2012). Modified A* Algorithm for Mobile Robot Path Planning. In: Patnaik, S., Yang, YM. (eds) Soft Computing Techniques in Vision Science. Studies in Computational Intelligence, vol 395. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25507-6_16

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  • DOI: https://doi.org/10.1007/978-3-642-25507-6_16

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25506-9

  • Online ISBN: 978-3-642-25507-6

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