Simple Application of A* Algorithm on Robot path-planning for the Shortest Path

Abstract

When the robot encounters circumstances where it has to go from its current position to a given goal in an undetermined environment, it has to deal with the path-planning problem. The A* algorithm, as a classic algorithm for efficient path searching in robot engineering, is an interesting and precious topic to study. As part of a project to design a cargo-delivering robot which will operate in a multi-purpose stadium, considering the complex structure of the building, an efficient path-planning algorithm must be implemented to help the robot fulfil its delivery. The heuristic function and its parameters, which are important for the speed of making decisions, should be determined under tests in different situations. By using MATLAB, the detailed process of the A* algorithm using different heuristic functions and parameters can be clearly shown in a 2-D grid map simulating the scene, including searched areas and the final path. With the help of the images and the output path length, the heuristic function and the parameters are finally decided. The method is now good for the designed robot to operate in simulations with static obstacles, but it can be improved to deal with automatic obstacle avoidance in real-life cases, where people, balls, etc. are actually moving.