Abstract:
Path planning has a wide range of application in video games, GPS based applications,
mobilerobotic etc. Autonomous mobile robot is used for doing hazardous task which is dangerous
andhard to handle for people. Efficient path planning is basic requirement for mobile robot.
Aimingat problem of path finding an improved version of A* algorithm is proposed. In A*
algorithm thecost of cells is only calculated by the sum of actual cheapest cost of a cell from
starting cell and aheuristic value which is estimated cheapest cost from the cell to goal cell. But
adding theheuristic value of parent node to cost function can improve the performance of
algorithm.Adding heuristic value of parent node with the cost of a cell help the algorithm to find
it pathmore purposefully. A robot can move to any cell adjacent to it. So there are eight possible
movefrom a particular cell. And all of them is not optimal. So by selecting the optimal cell
alwayshelps to reach the goal soon. In an improved version of A* algorithm heuristic value of
parentnode of a particular node is used to evaluate the cost of a function which perform better than
A*algorithm. In this research an new improved version of A* algorithm is proposed where
priorityof optimal cell is reduced to get more priority and heuristic value of parent node of current
nodeis added with the cost of cells. To increase the priority of optimal cell a value is added with
therest of cell. This value is calculated with the help of heuristic value. If a cell is closer to the
goalthan this value will be lower for it. This method is efficient than A* algorithm and
previousversion of improved A* algorithm. It can find path sooner than the typical A* algorithm
andprevious version of improved A* algorithm.
