The A-r-Star (Ar) Pathfinder

Abstract

This paper presents a variant of the A-Star ( ) pathfinder for robot path planning called (pronounced A-r-Star)and demonstrates that the algorithm outperforms in a uniformly gridded sparse world and gives performance matching that of in a uniformly gridded cluttered world. This algorithm is simple to implement and understand. It alsohighlights the performance advantages of the algorithm and proves its properties experimentally and analytically (where appropriate). Some challenges affecting the performance of have been presented and some solutions to these challenges have been developed and implemented. The performance of has been compared to running on both uniform and multi-resolution grids of different world scenarios. Results show that on a sparse high-resolution uniform grid world 's search speed scales well and it outperforms by an exponential factor.