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Proper path planning is the first step of robust and efficient autonomousnavigation for mobile robots. Meanwhile, it is still challenging for robots towork in a complex environment without complete prior information. This paperpresents an extension to the A* search algorithm and its variants to make thepath planning stable with less computational burden while handlinglong-distance tasks. The implemented algorithm is capable of online searchingfor a collision-free and smooth path when heading to the defined goal position.This paper deploys the algorithm on the autonomous drone platform andimplements it on a remote control car for algorithm efficiency validation.

Cell A* for Navigation of Unmanned Aerial Vehicles in Partially-known Environments