A Modified Real Time A* Algorithm and Its Performance Analysis for Improved Path Planning of Mobile Robot

  • P. K. Das
  • H. S. Behera
  • S. K. Pradhan
  • H. K. Tripathy
  • P. K. Jena
Conference paper
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 32)


This paper proposed an online path planning of mobile robot in a grid-map environment using modified real time A* algorithm. This algorithm has implemented in simulated and Khepera-II environment and find the optimized path from an initial predefine position to a predefine target position by avoiding the obstacles in its trajectory of path. The path finding strategy is designed in a grid-map and cluttered environment with static and dynamic obstacles with quadrant concept. The optimization the path is found using this algorithm as the goal is present in any of the four quadrant and restricted the movement of the robot to only one quadrant. Robot will plan an optimal path by avoiding obstructions in its way and minimizing time, energy, and distance as the cost, but the original A* algorithm find the shortest path not optimized. Finally, it is compared with other heuristic algorithms.


Navigation Improved real time A* algorithm Path planning Unknown environment Khepera-II 


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Copyright information

© Springer India 2015

Authors and Affiliations

  • P. K. Das
    • 1
  • H. S. Behera
    • 1
  • S. K. Pradhan
    • 2
  • H. K. Tripathy
    • 3
  • P. K. Jena
    • 4
  1. 1.Department of Computer Science and Engineering and Information TechnologyVSSUTBurlaIndia
  2. 2.Department of Mechanical EngineeringCETBhubaneswarIndia
  3. 3.Department of Computer Science and EngineeringKIIT UniversityBhubaneswarIndia
  4. 4.Department of Mechanical EngineeringVSSUTBurlaIndia

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