Path Planning of Mobile Robot Agent Using Heuristic Based Integrated Hybrid Algorithm

Abstract:

Optimal path planning is considered to be the key area, which gives much attention to researchers in the field of robotic research community. In this paper, a comprehensive simulation study was made on applying heuristic based optimal path planning algorithm of a mobile robot agent in an dynamic environment. This study aims on the behavioural aspects, exploration and navigational aspects along with optimal path analysis of a mobile robot agent. The behaviour selection of a mobile robot agent is considered to be the key challenge for designing a control architecture system, in which it is highly suitable for dynamically changing environment. A mobile robot agent participating for mission critical application will explore into an known environment without any discrepancy, but exploring into an unknown environment will be a challenging criterion, considering its constraints such as time, cost, energy, exploration distance etc., This paper aims on navigational study of the mobile robot agent participating in dynamically changing environments, using heuristic approach. The System evaluation is validated using Graphical User Interface (GUI) based test-bed for Robots called RoboSim and the efficiency of the system is measured, via Simulation Results. Simulation results prove that applying A* algorithm in an unknown environment explores much faster than other path planning algorithms.

• Periodical: Advanced Materials Research (Volumes 984-985)
• Pages: 1229-1234
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.984-985.1229
• Online since: July 2014
• Authors: K. Sudhagar*, M. Bala Subramanian, G. Rajarajeswari
• Keywords: A* Algorithm, Heuristic Approach, Path Planning, RoboSim, Robot Agent

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