@article{adafd49e4d864512b3d0166e1cd406e4,
title = "Solving Find Path Problem in Mapped Environments Using Modified A Algorithm",
abstract = "In this paper, we will present a path planning algorithm to solve the find-path problem in mapped environments. The moving objects considered in this paper can be any shape, which is approximated by its bounding convex polygon. Since the actual translating and rotating movement of the object in the free space is considered in the finding of collision-free path, it won't miss those paths which require rotational maneuvering. In addition to the progressing strategy, a modified A algorithm based on the revised depth-first search in setting up the h{\textquoteright} value is also proposed to find the optimal path. From the experimental results, the modified A algorithm is proved to be a very good method.",
keywords = "Path planning obstacle avoidance graph traversal, knowledge accumulation",
author = "Fan, {Kuo Chin} and Lui, {Po Chang}",
note = "Funding Information: A common approach to the find-path problem is the configuration space approach [ 11-[2] which constructs the configuration space and computes the constraints on the position of an object due to the presence of the obstacles. If the orientation of the object is fixed (Le., the object is not allowed to rotate), a visibility graph is constructed by connecting all pairs of vertices which do not intersect any of the Manuscript received December 20, 1992; revised August 2, 1993 and October 25, 1993. This work was supported in part by National Science Council of R.O.C. under contract NSC 81-0408-E-008-541. The authors are with the Institute of Computer Science and Electronic Engineering, National Central University, Chung-Li, Taiwan, R.O.C. IEEE Log Number 9402998.",
year = "1994",
month = sep,
doi = "10.1109/21.310516",
language = "???core.languages.en_GB???",
volume = "24",
pages = "1390--1396",
journal = "IEEE Transactions on Systems, Man and Cybernetics",
issn = "0018-9472",
number = "9",
}