A Proposed Trajectory Planning Algorithm for Mobile Robot Navigation Based on A* Algorithm

Yıldırım Ş., Savaş S.

in: Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics, Maki K. Habib, Editor, IGI GLOBAL, Cairo, pp.361-376, 2019

  • Publication Type: Book Chapter / Chapter Research Book
  • Publication Date: 2019
  • Publisher: IGI GLOBAL
  • City: Cairo
  • Page Numbers: pp.361-376
  • Editors: Maki K. Habib, Editor
  • Erciyes University Affiliated: Yes


This chapter proposes a new trajectory planning approach by improving A* algorithm, which is a widely-used, path-planning algorithm. This algorithm is a heuristic method used in maps such as the occupancy grid map. As the resolution increases in these maps, obstacles can be defined more precisely. However, the cell/grid size must be larger than the size of the mobile robot to prevent the robot from crashing into the borders of the working environment or obstacles. The second constraint of the algorithm is that it does not provide continuous headings. In this study, an avoidance area is calculated on the map for the mobile robot to avoid collisions. Then curve-fitting methods, general polynomial and b-spline, are applied to the path calculated by traditional A* algorithm to obtain smooth rotations and continuous headings by staying faithful to the original path calculated. Performance of the proposed trajectory planning method is compared to others for different target points on the grid map by using a software developed in Labview Environment.