The figure on the right shows ARA* Path Planning algorithm, and the figure on the left shows A* Path Planning algorithm. Click and drag on one of the grids to set up obstacles on both grids (they synchronize). After you set up an environment, type your decrement value, for how ARA* decreases ε, or use the default value and hit Decrease to find the path that satisfies the current ε. Note that every time you update the grid, ε increases up to its initial value. Initial ε value can also be changed. Just type in a new value and hit Start Over. To reset the environment, hit Reset.


  - expanded state  
  - obstacle  
  - g value (cost from the start to the current state)  
  - start point  
  - goal point  

  - path   

A* Path Planning ARA* Path Planning