Keywords
How to Cite
Abstract
This paper explores the use of the A-Star algorithm to construct an optimal route for a mobile robot, taking into account obstacles using Python. The developed program allows you to generate a map with an arbitrary location of obstacles and automatically find the optimal path from the start to the end point, taking into account the complexity of the route. The paper presents the results of implementing the algorithm under various scenarios for the location of obstacles, which allows us to evaluate the effectiveness and reliability of the algorithm in various conditions. Experiments have shown that the A-Star algorithm provides fast and accurate route generation even in complex environments with many obstacles. The results of the study can be used to improve the autonomous navigation of mobile robots in real working conditions.
References
Attar, H., Abu-Jassar, A. T., Yevsieiev, V., Lyashenko, V., Nevliudov, I., & Luhach, A. K. (2022). Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar. Computational intelligence and neuroscience, 2022, 3046116.
Matarneh, R., Maksymova, S., Deineko, Z., & Lyashenko, V. (2017). Building robot voice control training methodology using artificial neural net. International Journal of Civil Engineering and Technology, 8(10), 523-532.
Nevliudov, I., & et al.. (2020). Method of Algorithms for Cyber-Physical Production Systems Functioning Synthesis. International Journal of Emerging Trends in Engineering Research, 8(10), 7465-7473.
Maksymova, S., Matarneh, R., Lyashenko, V. V., & Belova, N. V. (2017). Voice Control for an Industrial Robot as a Combination of Various Robotic Assembly Process Models. Journal of Computer and Communications, 5, 1-15.
Sotnik, S., Mustafa, S. K., Ahmad, M. A., Lyashenko, V., & Zeleniy, O. (2020). Some features of route planning as the basis in a mobile robot. International Journal of Emerging Trends in Engineering Research, 8(5), 2074-2079.
Sotnik, S., & Lyashenko, V. (2022). Prospects for Introduction of Robotics in Service. Prospects, 6(5), 4-9.
Ahmad, M. A., Sinelnikova, T., Lyashenko, V., & Mustafa, S. K. (2020). Features of the construction and control of the navigation system of a mobile robot. International Journal of Emerging Trends in Engineering Research, 8(4), 1445-1449.
Al-Sharo, Y. M., Abu-Jassar, A. T., Sotnik, S., & Lyashenko, V. (2023). Generalized Procedure for Determining the Collision-Free Trajectory for a Robotic Arm. Tikrit Journal of Engineering Sciences, 30(2), 142-151.
Lyashenko, V., Laariedh, F., Sotnik, S., & Ahmad, M. A. (2021). Recognition of Voice Commands Based on Neural Network. TEM Journal, 10(2), 583-591.
Lyashenko, V., & Sotnik, S. (2020). Analysis of Basic Principles for Sensor System Design Process Mobile Robots. Journal La Multiapp, 1(4), 1-6.
Lyashenko, V., Tahseen, A. J. A., Yevsieiev, V., & Maksymova, S. (2023). Automated Monitoring and Visualization System in Production. Int. Res. J. Multidiscip. Technovation, 5(6), 09-18.
Matarneh, R., & et al.. (2019). Development of an Information Model for Industrial Robots Actuators. IOSR Journal of Mechanical and Civil Engineering, 16(1-V), 61-67.
Abu-Jassar, A., & et al. (2023). Obstacle Avoidance Sensors: A Brief Overview. Multidisciplinary Journal of Science and Technology, 3(5), 4-10.
Al-Sharo Y., & et al. (2023). A Robo-hand prototype design gripping device within the framework of sustainable development. Indian Journal of Engineering, 2023, 20, e37ije1673.
Akopov, M., & et al. (2023). Choosing a Camera for 3D Mapping. Journal of Universal Science Research, 1(11), 28-38.
Yevsieiev, V., & et al. (2022). A robotic prosthetic a control system and a structural diagram development. Collection of scientific papers «ΛΌГOΣ», Zurich, Switzerland, 113-114.
Nevliudov, I., & et al. (2023). A Small-Sized Robot Prototype Development Using 3D Printing. In XXXI International Conference CAD In Machinery Design Implementation and Educational Issues, 12.
Basiuk, V., & et al. (2023). Mobile Robot Position Determining Using Odometry Method. Multidisciplinary Journal of Science and Technology, 3(3), 227-234.
Yevsieiev, V., & et al. (2024). Object Recognition and Tracking Method in the Mobile Robot’s Workspace in Real Time. Technical Science Research In Uzbekistan, 2(2), 115-124.
Igor, N., & et al. (2023). Using Mecanum Wheels for Radio Shuttle. Multidisciplinary Journal of Science and Technology, 3(3), 182-187.
Nevliudov, I., & et al. (2023). Mobile Robot Navigation System Based on Ultrasonic Sensors. In 2023 IEEE XXVIII International Seminar/Workshop on Direct and Inverse Problems of Electromagnetic and Acoustic Wave Theory (DIPED), IEEE, 1, 247-251.
Yevsieiev, V., & et al. (2023). A Small-Scale Manipulation Robot a Laboratory Layout Development. International independent scientific journal, 47, 18-28.
Bortnikova, V., & et al. (2019). Structural parameters influence on a soft robotic manipulator finger bend angle simulation. In 2019 IEEE 15th International Conference on the Experience of Designing and Application of CAD Systems (CADSM), IEEE, 35-38.
Babker, A., & Lyashenko, V. (2018). Identification of megaloblastic anemia cells through the use of image processing techniques. Int J Clin Biomed Res, 4, 1-5.
Matarneh, R., Tvoroshenko, I., & Lyashenko, V. (2019). Improving Fuzzy Network Models For the Analysis of Dynamic Interacting Processes in the State Space. International Journal of Recent Technology and Engineering, 8(4), 1687-1693.
Al-Sherrawi, M. H., Lyashenko, V., Edaan, E. M., & Sotnik, S. (2018). Corrosion as a source of destruction in construction. International Journal of Civil Engineering and Technology, 9(5), 306-314.
Lyashenko, V. V., Matarneh, R., Baranova, V., & Deineko, Z. V. (2016). Hurst Exponent as a Part of Wavelet Decomposition Coefficients to Measure Long-term Memory Time Series Based on Multiresolution Analysis. American Journal of Systems and Software, 4(2), 51-56.
Lyashenko, V. V., Deineko, Z. V., & Ahmad, M. A. Properties of wavelet coefficients of self-similar time series. In other words, 9, 16.
Khan, A., Joshi, S., Ahmad, M. A., & Lyashenko, V. (2015). Some effect of Chemical treatment by Ferric Nitrate salts on the structure and morphology of Coir Fibre Composites. Advances in Materials Physics and Chemistry, 5(1), 39-45.
Lyubchenko, V., & et al.. (2016). Digital image processing techniques for detection and diagnosis of fish diseases. International Journal of Advanced Research in Computer Science and Software Engineering, 6(7), 79-83.
Lyashenko, V. V., Matarneh, R., Kobylin, O., & Putyatin, Y. P. (2016). Contour Detection and Allocation for Cytological Images Using Wavelet Analysis Methodology. International Journal, 4(1), 85-94.
Kobylin, O., & Lyashenko, V. (2014). Comparison of standard image edge detection techniques and of method based on wavelet transform. International Journal, 2(8), 572-580.
Erke, S., & et al. (2020). An improved A-Star based path planning algorithm for autonomous land vehicles. International Journal of Advanced Robotic Systems, 17(5), 1729881420962263.
Ju, C., & et al. (2020). Path planning using an improved A-Star algorithm. In 2020 11th International Conference on Prognostics and System Health Management (PHM-2020 Jinan), IEEE, 23-26.
Zhang, Z., & et al. (2021). A-Star algorithm for expanding the number of search directions in path planning. In 2021 2nd International Seminar on Artificial Intelligence, Networking and Information Technology (AINIT), IEEE, pp. 208-211.
Hong, Z., & et al. (2021). Improved A-Star algorithm for long-distance off-road path planning using terrain data map. ISPRS International Journal of Geo-Information, 10(11), 785.
Tang, G., & et al. (2021). Geometric A-Star algorithm: An improved A-Star algorithm for AGV path planning in a port environment. IEEE access, 9, 59196-59210.
XiangRong, T., & et al. (2021). Improved A-Star algorithm for robot path planning in static environment. In Journal of Physics: Conference Series, IOP Publishing, 1792(1), p. 012067.
Wang, Q., & et al. (2022). Application of A star algorithm in amphibious hull cleaning robot. In 2022 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, 269-273.
He, Z., & et al. (2022). Dynamic anti-collision A-Star algorithm for multi-ship encounter situations. Applied Ocean Research, 118, 102995.
Yudha, M. H. P., & et al. (2022). Optimalization Route to Tourism Places in West Java Using A-STAR Algorithm. CAUCHY: Jurnal Matematika Murni dan Aplikasi, 7(3), 464-473.
Mandloi, D., & et al. (2021). Unmanned aerial vehicle path planning based on A* algorithm and its variants in 3d environment. International Journal of System Assurance Engineering and Management, 12(5), 990-1000.
This work is licensed under a Creative Commons Attribution 4.0 International License.