Autonomous mobile robot path planning using the A* “A star” algorithm

Abstract

The ability to search and plan a path for a robot is highly essential especially that path planning is one of the main steps for complete robot navigation; this project and its report oversee the necessary steps and grounds for efficient path planning through a preset workspace, to perform this, choosing the best-suited type of map through many possible models is the first step, after the working space is set, a range of different versions of the A* algorithm not similar in their heuristics are tested in a Python IDE to generate the optimal path alternated through selected cases of obstacles placements and map sizes, the best version was chosen then is tested in a MATLAB environment for the final simulation to search and derive the optimal path, where random obstacles are placed in the map after setting the start and goal position by choice, allowing for a solution fitting for a mobile robot navigation problem.