Automatic Path Finder and Controller of Robotic Arm using Multi-Neuron Heuristic Search Algorithm

Robotics is a highly multi-disciplinary field which attracts the attention of many researchers from diverse fields. Robotic Path Planning is one of the major problems. Robot needs to find its path for navigation purpose without collision. Multi-Neuron Heuristic Search (MNHS) which is an advanced form of A* algorithm, used in this paper. MNHS is used for Robot path planning. The motivation is to make the problem robust against the uncertainties that might arise like the sudden discovery path being followed. The MNHS has better capabilities to solve maze-like maps where the uncertainty is extremely high. Another such area is when the robot enters into a highly chaotic area. Here, it might be better to go with a path that is less chaotic or has lesser number of obstacles. We tested the algorithm for numerous test cases. In all the cases, the MNHS was able to solve the problem of path planning in well manner