Análisis comparativo entre el algoritmo A* y el algoritmo tipo insecto para la planeación de rutas aplicados sobre un robot móvil con ruedas

Abstract

The objective of this degree project is the development and comparison of two known route planning algorithms A* (A-Star) and an insect-type algorithm, which aim to determine the best trajectory in a known environment and react to changes in ambient light; The aforementioned tasks are simple for humans, but not so simple for an autonomous mobile robot. The algorithms above will make it easier for the mobile robot to establish the appropriate movement actions that will lead it to the desired final location within a maze whose environment and physical distribution is previously known. These route planning and decision algorithms merit knowledge of the kinematic constraints of the mobile robot, which has been determined through mathematical modeling. Through the implementation and execution of the two algorithms programmed on the mobile robot, it was possible to demonstrate and compare the results in terms of time and distance traveled by the robot, verifying that the solution generated by the Insect-type algorithm entails a higher cost (time and distance) compared to the route solution given by the A-Star algorithm.