A* search algorithm optimization path planning in mobile robots scenarios

Lima, José; Costa, Pedro; Costa, Paulo Gomes da; Eckert, Lucas; Piardi, Luis; Moreira, António Paulo G. M.; Nakano, Alberto Yoshiro

http://hdl.handle.net/10198/21336

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Authors

Lima, José

Costa, Pedro

Costa, Paulo Gomes da

Eckert, Lucas

Piardi, Luis

Moreira, António Paulo G. M.

Nakano, Alberto Yoshiro

Abstract(s)

Path planning for mobile robotics in unknown environments or with moving obstacles requires re-planning paths based on information gathered from the surroundings. Moving obstacles and real time constraints require fast computing to navigate and make decisions in a mobile robot. This paper addresses an optimization approach to compute, with real time constraints, the optimal path for a mobile robot based on a dynamically simplified A* search algorithm with a commitment on the available time.

URI

http://hdl.handle.net/10198/21336

Citation

Lima, José; Costa, Pedro; Costa, Paulo; Eckert, Lucas; Piardi, Luis; Moreira, A. Paulo; Nakano, Alberto (2019). A* search algorithm optimization path planning in mobile robots scenarios. In 16th International Conference of Numerical Analysis and Applied Mathematics (ICNAAM 2018). Rhodes, Greece