Abstract—In this paper, we present an effective pathfinding
algorithm for mobile robot navigation. The algorithm stem is
from the A* algorithm that can perform minimum-cost path
navigation with the added obstacles avoidance capability. A set
of passive RFID tags placed on the Cartesian grids where used
for location identification. During navigation, the RFID reader
attached on the mobile robot receives its nearby RFID tags’ ID
to determine the robot’s current position, and use it to formulate
the minimum-cost path that goes from the present location to
the target point. The devised path is a set of connected RFID
tags computed by the A* algorithm. The proposed improved A*
algorithm explored a heuristic search of the minimal cost
navigation path that taking into consideration of the presence of
obstacles so that the devised optimal path would not collide with
the obstacles. Passive RFID tags have the advantages of low cost,
providing unequivocal coordinate information, fast
computation and easy deployment.
Index Terms—Pathfinding, A* algorithm, robot navigation,
passive RFID.
The authors are with the National Yang Ming University, Beitou, Taipei
11221 Taiwan (e-mail: d49904010 @ym.edu.tw, jim90486@hotmail.com,
g39604042@gmail.com, wchu@ym.edu.tw).
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Cite:Yung-Fu Hsu, Chun-Hao Huang, Way-Ren Huang, and Woei-Chyn Chu, "An Improved Minimum-Cost Pathfinding Algorithm for Mobile Robot Navigation," Journal of Advances in Computer Networks vol. 1, no. 3, pp. 189-193, 2013.
