A Normalized Rank Based A* Algorithm for Region Based Path Planning on an Image

Abstract

With the development of many autonomous systems, the need for efficient and robust path planners are increasing every day. Inspired by the intelligence of the heuristic, a normalized rank-based A* algorithm has been proposed in this paper to find the optimal path between a start and destination point on a classified image. The input image is classified and a normalized rank value based on the priority of traversal on each class is associated with each point on the image. Using the modified A* algorithm, the final optimal path is obtained. The obtained results are compared with the traditional method and results are found to be far better than existing method.