Pathfinding of a Mobile Robot by the Algorithm A Star (A*)

In many industrial fields, mobile robots are widely used these days. Research on the mobile robot’s path planning is one of the most important aspects of improvements on the mobile robot field. A mobile robot’s path planning involves finding a collision-free trajectory, through the robot’s environment with obstacles, from a specified starting location to a desired destination while meeting certain optimization criteria. The objective of this work consists in the development of a computer program on Matlab software, which allows the determination of the navigation optimal trajectory in a two-dimensional environment at minimal time. The method is based on the A (*) star algorithm, which is widely used in practice according to its advantages and the results obtained, compared to other algorithms. The simulation results obtained are in good agreement with those of the literature and show the ability of this algorithm to solve the given problem.