Humanoid Robot Path Planning and Rerouting Using A-Star Search Algorithm

Abstract

A humanoid robot as a home assistant which operates in an indoor environment needs to be equipped with the ability to move autonomously. The robot needs to fulfill each command which is given by the user to get the object in a specific location. To achieve this mission, the robot needs intermediate points called waypoints to move from its current coordinate to the next coordinate until the robot reaches the goal position. In this research, based on the current robot's and the targeted object coordinates, the A-star algorithm was being used to find the shortest path. The goal in this research is the robot may approach the targeted object and reroute if the robot missed the target or moving away from its waypoints. The A-star algorithm can be successfully applied in this system. With the addition of a rerouting feature, the robot was able to find a new route if the robot suddenly moved by the user or if the robot accidentally walked outside the waypoints.