iipp publishingJournal of Applied Engineering Science

MODIFIED METHOD OF A PATH PLANNing ON A LOCAL MAPS FOR TRANSPORT AND AEROSPACE ROBOTS



DOI 10.5937/jaes17-23621
This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions. 
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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 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.

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

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