The Improved A* Algorithm for Mobile Robots: Node Optimization and Advanced Evaluation Function

In mobile robots and unmanned vehicles, it is important to determine the obstacle and collision-free path for safe and smooth movements. #x002A; algorithm is a heuristic functionbased path-planning algorithm that determines the obstacle-free path from the starting position to the goal position in the binary map. The proposed path planning algorithm has improvised the traditional #x002A; path planning algorithm along with the number of nodes and minimizing the path distance by changing the evaluation function. This change in the evolution function but the improvised technique reduces the number of nodes, path distance, and processing time to plan the path from the starting position to the final destination. This research used MATLAB for the proposed improvised technique with four binary maps. It compared its result with the traditional #x002A; algorithm in reducing the run time, minimizing the number of nodes, average turning angles and total path distance, indicating its innovation. It also analyzed the path planning term for the single mobile robot movement in four different maps avoiding obstacles and collisions.