Low-Cost Path Planning in 2D Environment using A⁎ Algorithm by Considering Slope of the Obstacle

摘要

This paper deals with path generation of a mobile robot for an environment having slopes. In general, most of the path planning algorithms will take care of 2-dimensional or full 3-dimensional path planning whereas in the proposed method we are considering 2-dimensional environments along with slopes and travelable obstacles, which can be viewed as another layer of a 2-dimensional environment over the first one, and vehicle can manoeuvre over the obstacle rather than taking long road. For this purpose, A* algorithm is chosen for the path planning in this work, by considering its accuracy, efficiency and easiness in extending to Dynamic environment, D* algorithm. This can help mobile robot to conserve energy and reduce time taken to reach a goal. Algorithm presented here tries to find a path, in a 2D environment, with obstacle having slope, by travelling over them rather than going around. Ability to travel over an obstacle is basically based on the angle of the inclination, which can be estimated using sensor, like range finder, Lidar and others.