Multi-objective mobile robot path planning based on A* search

Abstract

Finding a path for a robot is a fundamental task in robot motion planning. Depending on applications and robot's capabilities, different objectives can be defined in multi-objective path planning. In this paper, by considering a Mars Rover scenario, we define several real objectives that must be minimized. The objectives for the proposed scenario are to minimize difficulty, danger, elevation, and length of the path from a start to a goal point. A* search algorithm is applied to solve the problem, since it guarantees to find a complete and optimal solution that minimizes the path cost. Simulation results in a simple map and more realistic scenario validate the applicability of the proposed method.