FPGA Implementation of A Algorithm for Real-Time Path Planning

Algorithm

1: Traditional A algorithm (Start N(x_s,y_s) to N(,)).

	Initialize grid maps with obstacle matrix
Mark N(xs, ys) as open_list
while open_listempty set do
find the node in open_list with least value f marked as N(xs, ys)
	mark N(xi, yi) as open_list
if N(xi, yi) = N(, ) do
Construct the path
return “path is found”
else
Mark N(xi, yi) as close_list
generate N(xi, yi)’s 8 successors
for each successor do
if successor does not belong to close_list or obstacle_node do
calculate successor’s value f and marked as f_new = f (successor)
If f_new is lower than successor’s original value f or successor is not in open_list
mark successor as open_list
successor.f = f_new
set successor’s parent to N(xi, yi)
end if
end if
end for
end if
end while