Modified method of a path planning on a local maps for transport and aerospace robots

Abstract

In this paper we consider the modifi cation of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not suffi cient for the rational path planning. The essence of the modifi cation is to use additional information about the features of original cell array. This additional information is represented by binary fl ags. They represent obstacle-free rows and matrix columns. The modifi cation allows you to build paths that include straight sections of free cells. The main feature of this method is the use of bitwise logical operations on cell values.