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Prof. Adly Shahat Mergany Tag eldien :: Publications:

Title:
Modified A* algorithm for safer mobile robot navigation
Authors: 12- Basem M. ElHalwany Hala M. Abdel-Kader Adly TagEldeen Alaa Eldeen Elsayed Zaki B, Nossar
Year: 2013
Keywords: Robotic simulation, robotic navigation, path planning
Journal: Modelling, Identification & Control (ICMIC), 2013 Proceedings of International Conference
Volume: Not Available
Issue: Not Available
Pages: 74-78
Publisher: Not Available
Local/International: International
Paper Link: Not Available
Full paper adly Shahat Mergany tag eldien_Modified A Algorithm for Safer Mobile Robot Navigation.pdf
Supplementary materials Not Available
Abstract:

Mobile robot navigation is a very important task in all robot applications from domestic service cleaning machine to highly sophisticated industrial robotic applications. In this paper, we investigated, and evaluated the well-known A* path planning algorithm. The standard A* algorithm is capable of finding out the most optimal path of the robot. A grid-based map obtained from the vision-based obstacle detection system in [2] as an input to the A* algorithm. Standard A* does not take the size of the robot into consideration which could produce unsafe paths for the robot to follow and collision could be occurs. Our proposed modified A* algorithm takes the robot size as a parameter to generate a safer path for the robot and avoid sharp turns. The Direction of Arrival (DOA) is used as a restriction to the path planning process which is a requirement in some robotic applications.

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