A-VG algorithm: a hybrid algorithm for the path planning of inspection robots

• Published in: Journal of the Brazilian Society of Mechanical Sciences and Engineering Vol. 45; no. 7
• Main Authors: Kumar, Anit, Tiwari, Shubham, Majumder, Arindam
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01-07-2023; Springer Nature B.V
• Subjects: Algorithms; Completion time; Energy consumption; Engineering; Inspection; Mechanical Engineering; Path planning; Planning; Robots; Technical Paper; A algorithm; Visibility graph; Robot path planning
• ISSN: 1678-5878; 1806-3691
• DOI: 10.1007/s40430-023-04249-z

Path planning for mobile robots is essential for reducing fuel consumption and task completion time. However, the requirement for an algorithm for efficient path planning still exists. This paper presents a new hybrid algorithm based on the concept of A* algorithm and visibility graph algorithm to solve robotic path planning problems. The hybrid algorithm utilizes the advantages of both algorithms by discarding their disadvantages. The effectiveness of the proposed algorithm is evaluated both on existing problems and real-world instances. The results obtained using the proposed hybrid A*-VG algorithm are then compared with the results of other existing algorithms. The results demonstrate that the proposed algorithm plans a shorter path as compared to the other algorithms except the VG algorithm. The paths determined by both A*-VG algorithm and VG algorithm are similar. It has also been observed that the proposed A*-VG technique is faster than the conventional VG algorithm and A* algorithm.