A Modified Fuzzy A* Based Inference System for Path Planning in an Unknown Environment

Abstract

One of the major challenges in a path planner system is finding the shortest path in the least time and cost. In this paper, fuzzy logic based A* algorithm is discussed. A* search is a heuristic method and when it is combined with Fuzzy logic, will yield greater global convergence. The proposed method addresses the path -searching behavior with minimum time and risk. In the fuzzy logic architecture, diagonal front-right distance, turn, goal distance, angle and speed are given as the inputs to the fuzzy inference system. Mamdani systems is used as Inference system for a better simulation the experiment is carried out in MATLAB environment and it is found that Fuzzy A* shows a shorter path in less time than the existing A* method.