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Collision-free Path Planning for Mobile Robots Based on Extended A * Algorithm

Collision-free path planning algorithm for a mobile robot for Eurobot competition is described in this paper. Extended A* algorithm implements new methods of represenatation of the robot in a map. The robot is represented by the real shape and dimensions, not only as one point. Sofisticated checking of the collision-free path is used. This approach was implemented and tested in the robot software. The result is more reliable robot motion in a limited space.