In this paper, we will present a path planning algorithm to solve the find-path problem in mapped environments. The moving objects considered in this paper can be any shape, which is approximated by its bounding convex polygon. Since the actual translating and rotating movement of the object in the free space is considered in the finding of collision-free path, it won't miss those paths which require rotational maneuvering. In addition to the progressing strategy, a modified A* algorithm based on the revised depth-first search in setting up the h' value is also proposed to find the optimal path. From the experimental results, the modified A* algorithm is proved to be a very good method.
