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ADAPTIVE RAPIDLY-EXPLORING-RANDOM-TREE-STAR (RRT*) -SMART: ALGORITHM CHARACTERISTICS AND BEHAVIOR ANALYSIS IN COMPLEX ENVIRONMENTS

Authors :
Jauwairia Nasir
Fahad Islam
Yasar Ayaz
Source :
Asia-Pacific Journal of Information Technology and Multimedia, Vol 2, Iss (2), Pp 39-51 (2013)
Publication Year :
2013
Publisher :
UKM Press, 2013.

Abstract

Rapidly Exploring Random Trees (RRT) are regarded as one of the most efficient tools for planning feasible paths for mobile robots in complex obstacle cluttered environments. The recent development of its variant: RRT* is considered as a major breakthrough as it makes it possible to achieve optimality in paths planning. However, its limitations include the infinite time it takes to reach the optimal solution and a very slow rate of convergence. Just recently the authors have introduced RRT*-Smart which is a rapid convergence implementation of RRT* for improved efficient path planning both in terms of planning time as well as path cost. This paper presents a new scheme for RRT*-Smart that helps it to adapt to various types of environments by tuning its parameters during planning based on the information gathered online. The paper also includes detailed explanation of the algorithm�s characteristics and statistical analysis of its behavior in different environment types including mazes, narrow passages and obstacle cluttered environments in comparison with RRT*. Navigation experiments using the real Pioneer 3-AT Mobile Robot provide a proof of the concept.

Details

Language :
English, Malay
ISSN :
22892192
Volume :
2
Issue :
(2)
Database :
Directory of Open Access Journals
Journal :
Asia-Pacific Journal of Information Technology and Multimedia
Publication Type :
Academic Journal
Accession number :
edsdoj.fcdb38d0be584cb2b5091b7897e80eb5
Document Type :
article
Full Text :
https://doi.org/10.17576/apjitm-2013-0202-04