Mobile Robot Path Planning in Static Environment using Modified A* (MA*) Algorithm

Path planning is one of the most important issues in mobile robots since it determines the intelligence of robots. It is about finding the shortest, collision free and smooth path form predefined start point to fixed target point with the presence of obstacles either static or dynamic. In this paper, we present a new approach of artificial intelligence for mobile robot. The proposed approach for robot path planning is doing some enhancement in A* algorithm in order to reduce the total path planning time and ensuring that the robot will reach the target successfully. The paths founded by this method are slightly sub-optimal, and we get better time performance result approximately 50% to 60% less time. Series of experimental comparison result with A* path planning approach are included in this paper to show the effectiveness and efficiency of our proposed method. This path planning approach can also be applied to computer games. Keywords—Robot Path Planning, A* algorithm, Intelligent Robotics, Obstacles Avoidance, Heuristic Algorithm.