A set of novel modifications to improve algorithms from the A* family applied in mobile robotics

• Type: Article in International Scientific Journal
• Date: 2013

Authors

Tiago Nascimento (Author) FEUP; Pedro Gomes Da Costa (Author) FEUP; Paulo Gomes Da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP; André Conceição (Author) FEUP

Journal

Title: Journal of the Brazilian Computer Society

Vol. 19 No. 2

Pages: 167-179

ISSN: 0104-6500

Publisher: Springer Nature

Indexing

Scopus - 7 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-008-B4Y

DOI: 10.1007/s13173-012-0091-5

Abstract (EN): This paper presents a set of novel modifications that can be applied to any grid-based path planning algorithm from the A* family used in mobile robotics. Five modifications are presented regarding the way the robot sees an obstacle and its target to plan the robot's path. The modifications make it possible for the robot to get to the target faster than traditional algorithms, as well as to avoid obstacles that move as fast as (or even faster than) the robot. Some simulations were made using a crowded and highly dynamic environment with twelve randomly moving obstacles. In these first simulations, a middle sized 5DPO robot was used. Also, real experiments were made with a small-sized version of a 5DPO robot to validate the algorithm's effectiveness. In all simulations and real robot experiments the objects are considered to be moving at a constant speed. Finally, we present an overall discussion and conclusion of this paper. © 2012 The Brazilian Computer Society.

Language: English

Type (Professor's evaluation): Scientific