By Topic

Fast path planning using modified A* method

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
C. W. Warren ; Dept. of Mech. Eng., Alabama Univ., Tuscaloosa, AL, USA

An algorithm is presented for planning the path of an object (robot) through an obstacle cluttered space by using a modified A* method for searching through the free space. The A* method can be extremely slow for large numbers of cells to be searched. The alternative presented is to use trial vectors that span several cells to aid in the planning. The fine resolution of the obstacle mapping is maintained. A loose search is performed on the fine grid. The paths that are found using this method are slightly sub-optimal. The speed of the searching algorithm is significantly increased. Solution times for three-dimensional problems are typically below 100 milliseconds, while the traditional A* search for the same problem is several minutes. The trade-off is a large speed increase for a slight degradation in path length optimality. Two-dimensional problems are solved very quickly

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993