Robot Path Planning with L * Algorithm for Linear Computational Complexity, Considering Distance and Slope

Abstract: This paper describes implementation of L* algorithm which provides linear computational complexity in robot path planning which could not be achieved by A*, D* and other predecessors. The proposed work executes the L* algorithm by considering the path slope in every move. The proposed method is implemented using MATLAB software tool. The results of implementation are satisfactory. The average number of times the list is accessed for computing the path in a grid of 9 cells is 6, average time in a grid of 25 cells is 16, in a grid of 100 cells it is 75, and the results are comparable to existing approaches.

Keywords: Robot path planning, linear computational complexity, slope.