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Autonomous Robot Navigation System Using A Search

Autonomous Robot Navigation System using A* Search with visualization how the robot navigate in the warehouse to place items

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anshukawlecha143
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19 views

Autonomous Robot Navigation System Using A Search

Autonomous Robot Navigation System using A* Search with visualization how the robot navigate in the warehouse to place items

Uploaded by

anshukawlecha143
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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AUTONOMOUS

ROBOT
NAVIGATION
PR ESE N T E D BY : A N S H U R A J K AW LE C H A
R O LL N O.: 2 0 5 1 2 3 0 2 1
PROBLEM STATEMENT
To implement an algorithm that enables a robot to autonomously navigate through a warehouse, represented as a
2D grid, to reach a specified target location from its starting position. The algorithm should ensure that the robot
finds the shortest path while avoiding obstacles and adhering to additional operational constraints.
Existing Methodologies
• BFS
• DFS
• Dijkstra’s Algorithm
• A* Algorithm
Method Used – A* Algorithm
A* combines elements of both BFS and Dijkstra’s by using a heuristic to guide its search, reducing unnecessary exploration.

• Formula : F(n) = G(n) + H(n)

• Heuristic used ( H(n) ) – Manhattan Distance

• G(n) is distance travelled to reach current cell from start cell.

• Open list : Nodes that are in consideration.

• Closed list : Nodes that has been evaluated and no need to re-evaluate.
How A* Algorithm is Applied in
Navigation

1. Initialization : Define the start and target positions in a 2D grid. Also initialize F(n) for start node.

2. Node Expansion: Select the node with the lowest F(n) from the Open List. Move it to the Closed List to mark
it as evaluated.

3. Neighbor Evaluation: For each neighboring cell of the current node. Ignore if it’s an obstacle or already in the
Closed List. Then calculate G(n), H(n) (heuristic to target). And update F(n).
How A* Algorithm is Applied in Navigation
(Cont.)

4. Open List Update : If a neighbor is not in the Open List, add it with its F(n). Or if already in the Open List but
has a lower F(n), update it.

5. Repeat Until Target is Reached

6. Path Reconstruction: Trace back from the target node to the start to reconstruct the optimal path based on
the lowest cumulative cost.
References
• Geeks for Geeks

• Russell, S., & Norvig, P. (2010). Artificial Intelligence: A Modern Approach .


Thank You !

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