Robotic Fish Path Planning Based on an Improved A* Algorithm

Huan Wang; Yu Lian Jiang

doi:10.4028/www.scientific.net/AMM.336-338.968

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 336-338Robotic Fish Path Planning Based on an Improved A*...

Robotic Fish Path Planning Based on an Improved A* Algorithm

Abstract:

Applying the global path planning to traditional A* algorithm in a complex environment and a lot of obstacles will result in an infinite loop because there are too many search data. To resolve this problem, this paper provides a new divide-and-rule path planning method which is based on improved A* algorithm. It uses several transition points to divide the entire grid map areas into several sub-regions. We set different speeds in each sub-region for local path planning. Thus the complex global path planning is turned into some simple local path planning. It reduces the search data of A* algorithm and avoids falling into the infinite loop. By this method, this paper designs the path planning of heading the ball, and smoothes the orbit. The simulation results show that the improved A* algorithm is better and more effective than the traditional one.

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Periodical:

Applied Mechanics and Materials (Volumes 336-338)

Pages:

968-972

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.336-338.968

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Online since:

July 2013

Authors:

Huan Wang, Yu Lian Jiang

Keywords:

A* Algorithm, Divide-and-Rule, Path Planning, Robotic Fish, Search

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