Open AccessABA*–Adaptive Bidirectional A* Algorithm for Aerial Robot Path Planning
Author(s) -
Pengkai Wang,
Husna Mutahira,
Jonghoek Kim,
Mannan Saeed Muhammad
Publication year - 2023
Publication title -
ieee access
Language(s) - English
Resource type - Journals
ISSN - 2169-3536
DOI - 10.1109/access.2023.3317918
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
The extensive use of robots has led to the rapid development of related technologies, such as automatic guidance and the use of drones in various applications. The challenge in path planning for robots involves finding collision-free paths that satisfy physical and kinematic constraints. The A* algorithm is commonly used for path planning in mobile robot, but its efficiency is reduced in large 3D environments due to high computational demands. This study introduces an improved version of the A* algorithm, called the Adaptive Bidirectional A* algorithm, specifically designed for path planning in 3D environments. The algorithm adapts to 3D environment variables and utilizes bidirectional search to find the optimal path. Compared to the original A* algorithm, the new algorithm significantly reduces planning time, up to 91.2%. The algorithm is applied to quadcopter path planning, and the simulation results demonstrate its superior performance. Furthermore, theoretical analysis validates the efficiency of the algorithm. Overall, the proposed ABA* algorithm shows great potential for real-world applications that require proposed path planning in 3D environments with limited computational resources.