Path Planning of a Mobile Robot to Avoid Multiple Moving obstacles by Using a Modified A~* Algorithm

摘要

This paper presents a path planning algorithm to avoidrnmultiple moving obstacles with a known velocity andrndirection. The conventional A~* algorithm is effective torndetect a path in the static environment of 2D space. However,rnthe A~* algorithm in the dynamic environment with multiplernmoving obstacles cannot directly applicable to the problemrnof collision avoidance. The proposed method as a modifiedrnA~* algorithm changes conventional space-domain pathrnplanning of A~* algorithm into the path planning of spacetimerndomain and produces a collision free path for a mobilernrobot, by calculating the paths of multiple obstacles and arnrobot in advance. In this paper, the results of the simulationrnshow that a mobile robot using a proposed methodrneffectively avoids the multiple moving obstacles and safelyrnfinds goal location.