Automatic Pathfinding of the Robotic Arm by A* Algorithm on 2-Dimension in MATLAB Simulink

Abstract

This project will give people who are new to A* algorithm a general idea about how robotic arms works in Simulink by applying the A*algorithm. Since A*algorithm combined advantage of two effective algorithm, this project decides to choose it as the main algorithm of the robot arms. In this project, the research question is whether a 2-joint robot arm passes through a single obstacle in 2D space to reach its destination and it selects the shortest path. The answer will be found by applying the A* algorithm on the robot arm. By analyzing the GHF values and trajectory graphs generated by MATLAB and Simulink. It has been confirmed that the A* algorithm works on the robot arm. Finally, success rate was calculated to be 81.7%, confirming that the 2-joint robot arm could pass through a single obstacle in 2D space to reach its destination and it selects the shortest path. The result of this project ca be more convincing if it run in 3-dimension.