Algorithmic motion planning in robotics along with time based performance analysis

Abstract

A∗ algorithm is well known for finding the shortest path from a starting point to a goal on a given map. This paper presents a method which makes use of it for robotic traversal when there are multiple starts (up to 2) and goals (up to 2), which is based on python. It shows how a customized heuristic matrix for every goal be obtained, which helps cutting down the runtime, for shortest path finding and is the supporting pillar of A∗. For the demonstration of the algorithm, a MATLAB based GUI is used to create a 2D map using which the python based script returns the shortest path. This path is then shown on the GUI.