Abstract
With the development of many autonomous systems, the need for efficient and robust path planners are increasing every day. Inspired by the intelligence of the heuristic, a normalized rank-based A* algorithm has been proposed in this paper to find the optimal path between a start and destination point on a classified image. The input image is classified and a normalized rank value based on the priority of traversal on each class is associated with each point on the image. Using the modified A* algorithm, the final optimal path is obtained. The obtained results are compared with the traditional method and results are found to be far better than existing method.
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Acknowledgement
The authors would like to thank DRDO-ERIPR for their funding under research grant no: ERIP/ER/1203080/M/01/1569. The first author and second author would like to thank CSIR for their funding under grant no: 09/1095(0026)18-EMR-I, 09/1095(0033)18-EMR-I.
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Sangeetha, V., Sivagami, R., Ravichandran, K.S. (2020). A Normalized Rank Based A* Algorithm for Region Based Path Planning on an Image. In: Abraham, A., Cherukuri, A., Melin, P., Gandhi, N. (eds) Intelligent Systems Design and Applications. ISDA 2018 2018. Advances in Intelligent Systems and Computing, vol 941. Springer, Cham. https://doi.org/10.1007/978-3-030-16660-1_9
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DOI: https://doi.org/10.1007/978-3-030-16660-1_9
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