A Normalized Rank Based A* Algorithm for Region Based Path Planning on an Image

  • V. SangeethaEmail author
  • R. Sivagami
  • K. S. Ravichandran
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 941)


With the development of many autonomous systems, the need for efficient and robust path planners are increasing every day. Inspired by the intelligence of the heuristic, a normalized rank-based A* algorithm has been proposed in this paper to find the optimal path between a start and destination point on a classified image. The input image is classified and a normalized rank value based on the priority of traversal on each class is associated with each point on the image. Using the modified A* algorithm, the final optimal path is obtained. The obtained results are compared with the traditional method and results are found to be far better than existing method.


Path planning Normalized rank A* algorithm Classified image Autonomous systems 



The authors would like to thank DRDO-ERIPR for their funding under research grant no: ERIP/ER/1203080/M/01/1569. The first author and second author would like to thank CSIR for their funding under grant no: 09/1095(0026)18-EMR-I, 09/1095(0033)18-EMR-I.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • V. Sangeetha
    • 1
    Email author
  • R. Sivagami
    • 1
  • K. S. Ravichandran
    • 1
  1. 1.School of ComputingSASTRA Deemed UniversityThanjavurIndia

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