A study of new path planning algorithm using extended a* algorithm with survivability

  • Authors:

  • Min-Ho Kim;Hee-Mu Lee;Yuanlong Wei;Min-Cheol Lee

  • Affiliations:

  • Control and Automation Systems Division, Pusan National University, Busan, South Korea;Control and Automation Systems Division, Pusan National University, Busan, South Korea;Control and Automation Systems Division, Pusan National University, Busan, South Korea;Control and Automation Systems Division, Pusan National University, Busan, South Korea

  • Venue:
  • ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
  • Year:
  • 2012

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Abstract

There are a lot of researches on the path planning algorithm of the unmanned vehicle. Previous researches related to the path planning mainly focused on finding the shortest path on the given map. However, on the battle field, if the vehicle just moves along the shortest path, it could not reach the goal, because of the enemy's attack. Therefore it's necessary that the new path planning algorithm for the unmanned vehicle on the battle field. In this paper, we will suggest a new path planning algorithm for the vehicle on the battle field using extended A* algorithm with survivability. For this, we will define the survivability and develop the additional cost function to find the optimal path in this situation. To verify the proposed algorithm, we developed the simulation program and the results will be shown.