Remodeled A* algorithm for mobile robot agents with obstacle positioning

Abstract

For planning path of a robot from start to destination knowledge about the existence of obstacle is necessary. Various algorithms are proposed for avoidance stationary obstacles in unknown environment. This paper deals with a modified A∗ algorithm for path planning with stationary obstacle. The modified algorithm is based on the concept of nodal weight upgradation. The nodal weight is based on obstacle present and distance to be covered. Hence this algorithm is capable of optimizing the distance to be travelled. In this work the distance from start to target is considered as cost function and the objective is to minimize the distance to be covered. The distance travelled by a robot is also a measure of time and energy, minimizing distance will result in minimum time and energy. The proposed path planning is carried out in a grid map environment with known obstacle and static environment.