The Implementation of A* Algorithm for Global Path Planning in Autonomous Vehicles
Rida Ayu Arfianti, Bambang Lelono Widjiantoro, Katherin Indriawati, Mawar Maharani · 2023
Path planning is utilized to design trajectory planning systems for autonomous vehicles. The A* algorithm has been proven successful in creating optimal, efficient, and safe navigation paths for autonomous vehicles. The resulting vehicle navigation path is an optimal trajectory considers heuristic values. The parameters employed in this research include the heuristic value, G-value (current cost), F-value (total estimated cost), Openlist, and Closelist. An average total estimated cost value of 2475 was obtained, with an average distance traveled over 10 seconds amounting to 139 meters. The results indicate that calculating lateral position from the path planning using the A* algorithm is reliable.