Abstract: “In this paper we present P* “P-Star” witch is a new algorithm for sensor based path planning. This work is based on PointBug algorithm [11] where we applied some improvements and modifications to overcome some important problems (like infinite loops and the bypass of some sub-paths). Moreover, we present some simulation results and comparisons with PointBug to evaluate and to verify the performance and the power of the proposed algorithm.”

Keywords: Mobile Robot, Path Planning, Unknown Environment, PointBug