A simplified cost function heuristic applied to the A*-based path planning
by Jefferson B.B. Silva; Clauirton A. Siebra; Tiago P. Nascimento
International Journal of Computer Applications in Technology (IJCAT), Vol. 54, No. 2, 2016

Abstract: An important task for mobile robots is autonomous navigation, where a robot travels between two locations without the need of human intervention. This task can be described as a planning path problem, whose purpose is to define sequential segments of state transitions from an initial to a final goal. This paper investigates a family of trajectory generation algorithms (A*), which are commonly used in path planning for static environments, stressing their main properties. Then, it is presented as a simplified cost function heuristic that is used to optimise the results presented in the original approaches. The comparison of the main algorithms is carried out via a set of experiments, which show that the proposed heuristic reduces the computational cost of the search, the amount of expanded cells and mainly the time required to locate targets.

Online publication date: Fri, 02-Sep-2016

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Computer Applications in Technology (IJCAT):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com