Finding the shortest smooth path in variable size using improved A* algorithm on grid-based receptor model

This paper presents a method based on receptor model for finding the shortest smooth path in variable size with safety margin, where clothoid curvature is used for smoothing path. The method modifies the results of grid-based A∗ algorithm and tries to push the given path away from obstacles and makes a smooth path between two specific points in 2D and 3D space. The optimized smooth path which we got in this study will be used as the main control line for designing canal surface for further study