Safe Navigation of Mobile Robot Using A* Algorithm

Path planning contributes a very significant role in navigation of a mobile robot. The accuracy of path depends on mapping and localization of an indoor environment. A number of path planning approach are already in applications like A* Algorithms, D* Algorithm (Heuristic Approach), Dijkstra’s Algorithm (Deterministic approach), Cell Decomposition Technique etc. The conventional A* algorithm method does gives the shortest path planning but having high probability of collision, if the mobile robot travels or approaches nearer to the obstacle. Under these conditions, it will be difficult for mobile robot to negotiate the clear path through close obstacles in the environment. In this paper a new method of safe and shortest navigation technique of path planning has been introduced using modified A* algorithm by placing the virtual obstacle in the environment. As the size of the obstacles increase in the environment it reduces the 98% probability of collisions with robot as well as obstacle. Simulation results for indoor static environment shows the improvement in safe and the shortest path.