A* Modification for Mobile Robotic Systems

摘要

In the work, a software based on the MVC methodology is developed using the LIDAR and SLAM technology, which allows automatic control of the mobile robot in real-time. An algorithm is developed which builds a graph based on data obtained from a mobile robot based on polar coordinates of points. To implement the search of the route on the graph, the A * algorithm was improved for use in robotized systems.