Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2003.06a
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- Pages.468-471
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- 2003
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- 2005-8446(pISSN)
Avoidance obstacles using A* algorithm in the Eyebot
A*를 이용한 장애물 회피
Abstract
The A* algorithm is usually used in game programming, mainly because it is fast in finding a optimal path to goal. In this paper. This algorithm was utilized for path finding, HIMM(Histogramic In-Motion Mapping) method is used in map-building. Map is updated continuously with range data sampled by PSD sensors From the map, A* algorithm finds a optimal path and sends subsequently the most suitable point to the Eyebot. A* algorithm has been tested on the Eyebot in various unknown maps of unknown and proved to work well. It could escape the local minimum, also.