ENHANCED MOTION PLANNING FOR MOBILE ROBOTS USING A HYBRID A*-FPA FRAMEWORK

Abstract

Motion planning is one of the most basic functions for robots, which helps robots move safely and securely through cluttered and changing spaces. While A* remains the most popular approach for generating optimal paths, its performance is affected for cluttered and changing spaces. To overcome these limitations, the current research suggests the hybrid approach by combining A* and FPA. The hybrid approach is intended to improve the quality of paths by smoothing the paths, reducing unnecessary turns, and minimizing computational costs. The results obtained through experimentation prove that the hybrid approach of A* and FPA is more effective and results in shorter and more coherent paths than A* search algorithms