Multi-Robot Fish Path Planning Based on the Modified A* Algorithm

Based on improved A* algorithm, this paper proposes the optimal path planning of robot fish in globally known environment, so as to achieve better coordination between the robot fish by means of improving their path planning. In the known obstacle environment which is rasterized, target nodes are generated via smoothing A* algorithm. The unnecessary connection points are removed then and the path is smoothed at the turning points. That improved algorithm, in combination with distributed scroll algorithms, is applied to multi-robot path planning in an effort to optimize the path with the avoidance of collision. The experimental results on the 2D simulation platform have verified the feasibility of that method.

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Multi-robot Path Planning with the Spatio-Temporal A* Algorithm and Its Variants

Advanced Agent Technology - Lecture Notes in Computer Science ◽

10.1007/978-3-642-27216-5_22 ◽

2012 ◽

pp. 313-329 ◽

Cited By ~ 5

Author(s):

Wenjie Wang ◽

Wooi-Boon Goh

Keyword(s):

Path Planning ◽

Robot Path Planning ◽

A Algorithm ◽

Spatio Temporal ◽

Robot Path ◽

Multi Robot

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New Approach for Mobile Robot Path Planning

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.467.475 ◽

2013 ◽

Vol 467 ◽

pp. 475-478

Author(s):

Feng Yun Lin

Keyword(s):

Path Planning ◽

Optimal Path ◽

Dc Motor ◽

Robot Path Planning ◽

New Approach ◽

Kinematic Constraints ◽

Optimal Path Planning ◽

Kinematic Limit ◽

Time Optimal ◽

Robot Path

This paper presents a method of time optimal path planning under kinematic, limit heat characteristics of DC motor and dynamic constrain for a 2-DOF wheeled. Firstly the shortest path is planned by using the geometric method under kinematic constraints. Then, in order to make full use of motors capacity we have the torque limits under limit heat characteristics of DC motor, finally the velocity limit and the boundary acceleration (deceleration) are determined to generate a time optimal path.

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Robot Path Planning Based on Improved A* Algorithm

Cybernetics and Information Technologies ◽

10.1515/cait-2015-0036 ◽

2015 ◽

Vol 15 (2) ◽

pp. 171-180 ◽

Cited By ~ 5

Author(s):

Jiansheng Peng ◽

Yiyong Huang ◽

Guan Luo

Keyword(s):

Path Planning ◽

Experimental Results ◽

Operating Efficiency ◽

Robot Path Planning ◽

Improved Method ◽

A Algorithm ◽

Long Time ◽

Robot Path ◽

The Way

AbstractDue to the characteristic that A* algorithm takes a long time when traversing an OPEN table and a CLOSED table, an improved method is proposed that is a new way of array storing in an OPEN table and a CLOSED table. Compared to the original A* algorithm, the way of array storing accesses the array elements by locating the number ranks each time you visit a specified element, which can be done by only one operation. The original A* algorithm requires the traverse of multiple nodes in order to find a specified element. The experimental results show that the comparison of the improved A* algorithm with the original A* algorithm shows that the operating efficiency is improved by more than 40%. Based on the improved A* algorithm the method preserves the advantages of the original A* algorithm, improving the operating efficiency of A* algorithm.

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A* Algorithm Based Robot Path Planning Method

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.63-64.686 ◽

2011 ◽

Vol 63-64 ◽

pp. 686-689

Author(s):

Xiao Min Li ◽

Jian Ping Wang ◽

Xin Ning

Keyword(s):

Path Planning ◽

Heuristic Search ◽

Search Algorithm ◽

Optimal Path ◽

Robot Path Planning ◽

A Algorithm ◽

The Core ◽

Research Fields ◽

Heuristic Search Algorithm ◽

Robot Path

Robot path planning is one of the core parts of robot research fields. A * algorithm is a typical heuristic search algorithm in Artificial Intelligence. In this paper, the model of robot path planning is founded based on A* algorithm and raster model, thus the optimal path is found in the process of robot traversing. The simulation result shows the correctness and efficiency of the path planning.

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