Optimal Path Planning for Mobile Robots Using Memory Efficient A*

摘要

Optimal path for robot in collision free space is influenced by a number of factors such as path length, total number of turns, and execution time. A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> is a well-known grid based path planning approach used for path planning of robots. In this paper, an efficient variation of A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> , named Memory Efficient A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> (MEA <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> ), is proposed to find optimal path between start and goal point while avoiding obstacles. Performance of proposed algorithm is compared with popular grid based path planning approaches. Simulation results have shown that MEA <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> performs better with increased computational efficiency. It generates shorter paths in less time with less memory requirements. Moreover, proposed approach also outperforms other grid based planners in narrow passages and complex environments as well. These advantages of proposed approach make it feasible for mobile robots having limited memory and energy constraints.