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arXiv · 2503.00764

Enhanced $A^{*}$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints

Suraj Kumar·Sudheendra R·Aditya R·Bharat Kumar GVP·Ravi Kumar L
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Abstract

In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the $A^{*}$ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the $A^{*}$ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.

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Suraj Kumar, Sudheendra R, Aditya R, Bharat Kumar GVP, Ravi Kumar L. 2025-03-02. Enhanced $A^{*}$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints. https://doi.org/10.1109/icc64753.2024.10883712

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