Implementation of A* Shortest Path Finding Algorithm in a Transport Robot with Robust Turning Mechanism

Autonomous transportation is a rapidly emerging field of technology with potential applications ranging from safe delivery of goods in disaster sites or hospitals to intelligent warehouse logistics management. However, an overwhelming majority of this emerging process focuses on high-end quality products with prices which deny entrance into the field for most. Herein, we demonstrate the development of a proof-of-concept autonomous line-following robot that could serve as a low-cost budget solution for this domain. Rather than using performance-demanding AI approaches, the utilization of the A* path finding algorithm in combination with a line-following movement approach enables the use of the low-cost single-board computer, raspberry pi. Infrared sensors are used in complement with a grid of black lines to enable the robot's movement. Additionally, this work dabbles in the computational performance of the A * algorithm alongside the development of a highly robust turning mechanism.