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A* Algorithm for Robot Path Planning

Rahul Kala
23 February 2013 rkala.99k.org

Issues
• Continuous Space

• Resolution
• Iterative/ Anytime Algorithms Cost Function: • Smoothness

• Clearance
• Path Length , Time to Travel, Economy
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2-Level Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2010) Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning, Artificial Intelligence Review 33(4), 275-306.
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2-Level Resolution Planning
• Coarser Level: A* Algorithm

• Finer Level: Fuzzy Inference System

A* Algorithm for Robot Path Planning

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2-Level Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2010) Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning, Artificial Intelligence Review 33(4), 275-306.
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Multi-Resolution Planning

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Multi-Resolution Planning
• Make A* algorithm iterative

• At any iteration: – Find shortest and most probably collision free paths – Decompose cells along the found path – Transfer points from the previous graph search

R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing, 74(14-15), 23142335. A* Algorithm for Robot Path Planning 7

Multi-Resolution Planning

R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing, 74(14-15), 23142335. A* Algorithm for Robot Path Planning 8

THANK YOU

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