A~* search algorithm applied to a Chinese chess game

摘要

This article presents an A~* search algorithm to be applied to path planning in a Chinese chess game, and uses multiple mobile robots to present the scenario. The mobile robots have a cylindrical shape, and their diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robots is a MCS-51 chip. We play the Chinese chess game using multiple mobile robots according to the evaluation algorithm of the game, and calculate the displacement by the encoder of a DC servo motor. The A~* search algorithm can solve the shortest-path problem for the mobile robots from the starting point to the target point on the chess board. The simulated results found the shortest path for the mobile robots (chess pieces) moving to target points from their starting points in a col lision-free environment. Finally, we implemented the exper imental results on a Chinese chess board using mobile robots. Users can play the Chinese chess game using the supervising computer via a wireless RF interface. The sce nario of the feedback of the Chinese chess game to the user interface uses an image system.