A method for path planning of autonomous robot using A∗ algorithm

This paper presents a method of trajectory planning and design for Unmanned Aerial Vehicle (UAV) based on the A* algorithm. Using grids to process the trajectory path planning of UAV under the environment with presence of obstacles, and then find the shortest path from the initial point to the target point based on rasterized environment using A* algorithm. The simulation of trajectory planning is realized in the Microsoft Visual C++ 6.0 developing environment. Through the simulation of trajectory planning, we can prove that UAV can find the shortest path from the initial point to the target point based on A* algorithm.