Applying A* Path Planning Algorithm Based on Modified C-Space Analysis

  • Firas A. Raheem Department of Control and Systems Engineering/ University of Technology
  • Asmaa A. Hussain Department of Control and Systems Engineering/ University of Technology

Abstract

In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and construction, and then a successful and guaranteed path from a start to goal configuration has been obtained without any collision probability. The results had been achieved by (Matlab R2015a) software, which run on Intel (R) Core (TM) i3-3120M CPU.

Downloads

Download data is not yet available.

References

Jia Pan, Dinesh Mancha, "Efficient Configuration Space Construction and Optimization for Motion Planning", Published by Engineering Sciences Press, 2015.

Benjamin Wah, "Robot Motion Planning", Wiley Encyclopedia of Computer Science and Engineering, 2008.

T. Lozano- Pérez, "Spatial Planning: A Configuration Space Approach", IEEE Computer Society Washington, DC, USA, 1983.

Kasper Althoefer, "Neuro-Fuzzy Motion Planning for Robotic Manipulators", Department of Electronic and Electrical Engineering, King's College London, University of London, 1996.

Wyatt S. Newman, Michael S. Branicky, "Real-Time Configuration Space Transforms for Obstacle Avoidance", The International Journal of Robotics, 1991.

Debanik Roy, " Serial and Parallel Robot Manipulators – Kinematics, Dynamics, Control and Optimization ", Edited by Serdar Küçük, Janeza Trdine 9, 51000 Rijeka, Croatia, 2012.

[Yan Yan, "Geometric Motion Planning Methods for Robotics and Biological

Crystallography", Baltimore, Maryland, 2014.

S. M. Masudur Rahman Al-Arif, A. H. M. Iftekharul Ferdous, Sohrab Hassan Nijami, " Comparative Study of Different Path Planning Algorithms: A Water based Rescue System ", International Journal of Computer Applications (0975 – 8887)

Volume 39– No.5, February 2012.

Sung Hyun Kim, "Multi-Layer Approach to Motion Planning in Obstacle Rich Environment", Texas A&M University, May 2008.

Suraya Binti Abu Bakar, "High-Speed Shortest Path Co-Processor Design", University of Malaya, Kuala Lumpur, October 2010.

Steven Bell Student Member, "An Overview of Optimal Graph Search Algorithms for Robot Path Planning in Dynamic or Uncertain Environments", IEEE Student Member No. 90691022, Oklahoma Christian University, 19 March 2010.

F. C. Park, K. M. Lynch, "Introduction to Robotics: Mechanics, Planning, and Control", 2015.

Ethan D. Bloch, "Polygons, Polyhedra, Patterns & Beyond", 2015.

Published
2018-12-01
How to Cite
Raheem, F., & Hussain, A. (2018). Applying A* Path Planning Algorithm Based on Modified C-Space Analysis. Al-Khwarizmi Engineering Journal, 13(4), 124- 136. https://doi.org/10.22153/kej.2017.03.007