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A Modified Real Time A* Algorithm and Its Performance Analysis for Improved Path Planning of Mobile Robot

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Computational Intelligence in Data Mining - Volume 2

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 32))

Abstract

This paper proposed an online path planning of mobile robot in a grid-map environment using modified real time A* algorithm. This algorithm has implemented in simulated and Khepera-II environment and find the optimized path from an initial predefine position to a predefine target position by avoiding the obstacles in its trajectory of path. The path finding strategy is designed in a grid-map and cluttered environment with static and dynamic obstacles with quadrant concept. The optimization the path is found using this algorithm as the goal is present in any of the four quadrant and restricted the movement of the robot to only one quadrant. Robot will plan an optimal path by avoiding obstructions in its way and minimizing time, energy, and distance as the cost, but the original A* algorithm find the shortest path not optimized. Finally, it is compared with other heuristic algorithms.

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Author information

Authors and Affiliations

  1. Department of Computer Science and Engineering and Information Technology, VSSUT, Burla, Odisha, India

    P. K. Das & H. S. Behera

  2. Department of Mechanical Engineering, CET, Bhubaneswar, Odisha, India

    S. K. Pradhan

  3. Department of Computer Science and Engineering, KIIT University, Bhubaneswar, Odisha, India

    H. K. Tripathy

  4. Department of Mechanical Engineering, VSSUT, Burla, Odisha, India

    P. K. Jena

Authors
  1. P. K. Das
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  2. H. S. Behera
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  3. S. K. Pradhan
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  4. H. K. Tripathy
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  5. P. K. Jena
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Corresponding author

Correspondence to P. K. Das .

Editor information

Editors and Affiliations

  1. University of Canberra, Canberra, Australia and University of South Australia, Adelaide, South Australia, Australia

    Lakhmi C. Jain

  2. Department of Computer Science and Engineering, Veer Surendra Sai University of Technology, Sambalpur, Odisha, India

    Himansu Sekhar Behera

  3. Computer Science & Engineering, Kalyani University, Nadia, West Bengal, India

    Jyotsna Kumar Mandal

  4. Dept. of Computer Science and Engineering, National Institute of Technology Rourkela, Rourkela, India

    Durga Prasad Mohapatra

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Das, P.K., Behera, H.S., Pradhan, S.K., Tripathy, H.K., Jena, P.K. (2015). A Modified Real Time A* Algorithm and Its Performance Analysis for Improved Path Planning of Mobile Robot. In: Jain, L., Behera, H., Mandal, J., Mohapatra, D. (eds) Computational Intelligence in Data Mining - Volume 2. Smart Innovation, Systems and Technologies, vol 32. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2208-8_21

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  • DOI: https://doi.org/10.1007/978-81-322-2208-8_21

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  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-2207-1

  • Online ISBN: 978-81-322-2208-8

  • eBook Packages: EngineeringEngineering (R0)

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