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

Author

Hao Xu ; Xiangrong Xu ; Yan Li ; Xiaosheng Zhu ; Chongzhi Song ; Lifang Wang

Author_Institution

Sch. of Math. & Phys., Anhui Univ. of Technol., Ma´anshan, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

2322

Lastpage

2327

Abstract

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.

Keywords

C++ language; autonomous aerial vehicles; control engineering computing; graph theory; mobile robots; path planning; trajectory control; A* algorithm; Microsoft Visual C++ 6.0; UAV; autonomous robot; rasterized environment; shortest path; trajectory design; trajectory path planning; trajectory planning; unmanned aerial vehicle; Algorithm design and analysis; Educational institutions; Heuristic algorithms; Planning; Robots; Trajectory; A∗ algorithm; UAV; Visual C++ trajectory simulation; trajectory planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739816

Filename

6739816