2016 International Conference on Frontiers of Information Technology (FIT) (2016)
Dec. 19, 2016 to Dec. 21, 2016
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/FIT.2016.034
Optimal path for robot in collision free space is influenced by a number of factors such as path length, total number of turns, and execution time. A* is a well-known grid based path planning approach used for path planning of robots. In this paper, an efficient variation of A*, named Memory Efficient A* (MEA*), is proposed to find optimal path between start and goal point while avoiding obstacles. Performance of proposed algorithm is compared with popular grid based path planning approaches. Simulation results have shown that MEA* performs better with increased computational efficiency. It generates shorter paths in less time with less memory requirements. Moreover, proposed approach also outperforms other grid based planners in narrow passages and complex environments as well. These advantages of proposed approach make it feasible for mobile robots having limited memory and energy constraints.
Algorithm design and analysis, Memory management, Path planning, Complexity theory, Mobile robots, Simulation
Iram Noreen, Amna Khan, Zulfiqar Habib, "Optimal Path Planning for Mobile Robots Using Memory Efficient A*", 2016 International Conference on Frontiers of Information Technology (FIT), vol. 00, no. , pp. 142-146, 2016, doi:10.1109/FIT.2016.034