A* Algorithm Improved for the Path Planning of Unknown Environment

• Main Authors: Pi-Ching Chang, 張弼青
• Other Authors: Kuo-Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/42344872176477813717

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 101 === In an unknown environment, path planning is an important role for robots to efficiently search a target. However, no map path planning in an unknown environment is hard for the shortest path. It motivates to find the shortest path in searching the extended area. In this thesis, the idea of extended searching area is applies to improving A* algorithm for the shortest path of path planning. The proposed idea reserves the original advantage of A* algorithm on the shortest path planning to make unknown environment path planning possible. Experiments demonstrate the result of the proposed path planning very close A* algorithm. Finally, three experiments showing the performance of the proposed path planning are also included.