Análise do algorítmo A* (a estrela) no planejamento de rotas de veículos autônomos

Abstract

The autonomous vehicles are in conjunction with the growing wave of artificial intelligence the great subject of the moment in speaking of technological advancement, transportation and robotics. This paper aims to elucidate how an autonomous car manages to navigate in the environment in which it is inserted. In this document is presented in detail one of several existing autonomous navigation methodologies. Using the A* algorithm a smart agent must be able to find the optimal path between a point A to a point B, in a efficiently way, aiming to expand smallest number of nodes as possible. The algorithm is then compared to the Dijkstra algorithm that is widely known, and which served as inspiration in the creation of the algorithm A*. By analyzing the results it is possible to perceive the considerable improvement that the algorithm A* has in relation to the Dijkstra’s, without requiring a much more complex implementation, as explained. With the correct heuristic function it is possible to have better results in the most diverse scenarios to which the algorithm is exposed.