The A* algorithm is a widely used search algorithm that finds the shortest path between two nodes in a graph.It is often used in various fields such as robotics and game development for path finding and graph transversal.his project is aimed at studying how the agent designs the real-time AI system based on the use of search algorithm methods.This project is done with the help of C++ language in visual studio.In this project the goal is to draw a maze in such a way that the robot finds a way to reach the path destination.Using A* algorithm as a base search method the robot visualize the paths and makes sure it reaches to the target using a closest path possible ignoring the obstacles found on the way.A* search algorithm is used here because it is often used in many fields of computer science due to it’s completeness, optimality and optimal efficiency. Also it uses cost path g(n) and a cost estimate h(n) to reach the goal. I.e.f(n)=g(n)+h(n). The maze is designed in 2d array such that there are 12 rows and 24 coloumns;288 blocks on the map.Since it is represented in 2D array ,’1’ represents wall,’0’ represent walkable space ‘A’ represents the robot and ‘B’ represents the target.Here,The agent uses a Global path planning that requires prior knowledge of the robot’s environment and using this knowledge it creates a stimulated environment where the methods can plan a path. The envrionment created is static where the environment is unvarying, the source and destination position are fixed, and obstacles do not vary location over time. What went wrong Even the best- thought-out program can have unexpected issues. Some are easy to track down ;others can drive you crazy trying to figure out the issue. We might tempted to blame the robot as being faulty but that is not the case. The robot is doing exactly what it is told to do by the program. The main error in the program is the robot passes through the wall which are present inside the mapArray scope.The (*) sign is used as a path created by the robot(A) to the target(B).Though the robot ultimately reaches the target and achieved it’s goal the obstacles are being neglected. Maybe this was due to the wrong step in the program ,the robot seems to passes through it as a walkable space. In my conclusion the robot doesn’t count the inner walls as obstacles but as a free space. Also the program has other errors like console engine was too big.The colors representating the wall, target and the source was not used so it is little difficult to visualize.
In this work project, the path planning strategies for a robot path planner was proposed and implemented sucessfully on a real life activities using different mathematical equations, heuritsic algorithm and a uniform search method I.e A -star algorithm.In a*, we determine the order by a lower bound on the total length of the path,which includes the distance from the robot,to which is added to a lower bound on the distance still to be traveled.Thus,A* is suitable search algorithm for the proposed path. The proposed path planning are realized by appropriate code using visual studio c++. The fundamental goal of this project was to find a path from a source to the target location. The robot(target)finds the target location using A* search and heuristic values. The path planning was sucessful as the trajectory was found as a shortest path to the target. Though there seems to be the problem where robot doesn’t recognize the interior wall as obstacle,it passes right through them.This may cause the error result. Proper use of search method and practical work in the real life ,the agent can learn a lot from it. In summary,this project work is carried out for the development of path planning strategies which are to be implemented for mobile robot task like pick-and –place, material distribution, automated storage and retrieval operation etc using heuristic algorithms.