Apply A* Search for Robot Path Finding

Abstract

Path planning for robot can be useful, it can save time consumed for a robot to move to destination or get stuck by an obstacle. If the robot knows where the obstacles are and knows which way is clear to move to, it can help the robot get to the destination faster and more precise. The objective of this project is to create an algorithm for a robot to plan a path from one position to the destination. This project has four approaches for creating path planning for robot, direction angle algorithm, packet forwarding like algorithm, A* search algorithm, and A* without using GPS algorithm. The later approaches will improve disadvantages in former approaches. This project is created in simulation program called Webots. Result from the last approach can make a robot plan a path from one position to the destination and avoid obstacles when they are detected. However, it is still not very accurate in the positioning system because the robot cannot get its exact position.