Article

DOI 10.5937/jaes17-23621

This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions.

Volume 17 article 649 pages: 585- 589

Titenko Evgeny Anatolyievich*
Southwest State University, Kursk, Russian Federation

Emelyanov Sergey Gennadyevich
Southwest State University, Kursk, Russian Federation

Dobroserdov Oleg Guryevich
Southwest State University, Kursk, Russian Federation

Borzov Dmitry Borisovich
Southwest State University, Kursk, Russian Federation

Frolov Sergey Nikolaevich
Southwest State University, Kursk, Russian Federation

Lisitsin Leonid Alexsandrovicn
Southwest State University, Kursk, Russian Federation

Bredikhina Natalia Vladimirovna
Southwest State University, Kursk, Russian Federation

Sazonov Sergey Yuryevich
Southwest State University, Kursk, Russian Federation

In this paper we consider the modification 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 sufficient for the rational path planning. The essence of the modification is to use additional information about the features of original cell array. This additional information is represented by binary flags. They represent obstacle-free rows and matrix columns. The modification 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.

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The research is performed within a State Assignment in 2019 (№2.9102.2017/BCH).

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