Safe Global Path Planning of Mobile Robots Based on Modified A* Algorithm
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This study evaluated Safe Global Path Planning (SGPP) for mobile robot navigation. This model considers the potential risk as a safety index, whereas most studies of global path planning algorithms focused on the time and distance cost. Robots can encounter difficulties in reaching a target point due to the limited field of view behind obstacles. This paper presents a modified A* algorithm to reduce the collision risk by considering such occluded environments. According to the simulation results, the presented algorithm showed better performance in terms of safety and navigation time than the conventional A* algorithm.
KeywordsSafe global path planning Modified A* algorithm Safety cost Risk area
This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korean Government (NRF-2011-0016212) and partially supported by the MOTIE (Ministry of Trade, Industry & Energy), Korea, under the Robotics-Specialized Education Consortium for Graduates support program supervised by the NIPA (National IT Industry Promotion Agency) (H1502-13-1001).
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