Implementation of A* Algorithm for Optimal Path Planning for Mobile Robots

摘要

Automation has widespread applications and uses in industries and is gradually finding its way into our daily lives. One of the implementations of automation is in an automated path planning system, which is still being extensively researched. The system can plan a path from a starting point while detecting its surroundings to navigate to the endpoint given to it. The prime example of automatic path planning that is being heavily researched and invested in is automated cars, where a car can be driven on the road without a human driver. In this paper, we aim to show our work in creating a bot that uses the A* algorithm to create an automated path planning robot. We have prepared a bot that is programmed to be able to move in a path free of collision in an environment of dynamic obstacles, which is a realistic scenario if the bot were to be used practically. The environment would resemble a real-world scenario house and multiple rooms or locations in the floor plan. The bot will track the obstacle data in real time and navigate through the area to reach the given goal location autonomously.