A Dual Approach to the A* Algorithm to Generate Consistent Trajectories for the Leader–Follower Scheme

Path planning and formation control in leader–follower robotic systems are active areas of research, as both are highly relevant to the proper execution of the assigned task. In this work, a dual approach to the A* algorithm is applied to generate consistent trajectories for a multi-agent robotic system with a leader–follower scheme. The conventional A* algorithm aims to minimize the cost of finding the best path by minimizing distances. In this case, a modified A* algorithm is used because, although decision-making also involves choosing among eight options or cells, the goal is not to minimize distance; instead, the focus is on analyzing the direction of acceleration. The proposed algorithm is robust regarding the initial and relative pose of the leader with respect to the followers. The leader is tracked using a digital accelerometer. The algorithm is tested by simulating various patterns and implemented in two experimental test scenarios: the first with differential mobile robots, and the second with an Ackerman-type mobile robot. In both scenarios, the trajectories were achieved with deviations in x and y between the follower’s path and the leader’s path of less than 0.03, and the leader’s pose independence was maintained.