Modified A* algorithm for outdoor environments with risk and velocity map

Abstract

A* algorithm can generate the optimized unique path if the cost function is well designed based on the given information. Especially for global path planning (GPP), A* is one of best solutions because GPP itself assume that a prior information. In this paper, classic A* algorithm is modified for outdoor military robot with risk and velocity map. For this purpose, we design velocity map using digital elevation map (DEM) and the cost function for considering risk and velocity map.