Path-Planning Dynamic 3D Space Using Modified A* Algorithm

摘要

Abstract Path planning is critical to the development of any robotic system or any autonomous moving vehicle in the modern world. The traditional planning algorithms such as the A*, D*, APF algorithms and more have scored great deal of efficiency along the way of path planning and navigating though some like the A* and D* lacks the ability to adopt the three-dimensional environments, since they have been intended to be light and fast in execution. This paper shows a modified version of the A* algorithm that works on 3D sphere space in both simple and cluttered environments. Giving ability to the algorithm to operate with float values and navigate around sphere obstacles safely, which is a closer scenario to the real world environments. The modified algorithm has the ability to avoid dynamic as well as static obstacles, generating semi-smooth and completely safe path from start point to the goal.