AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT
The use o = sampling-based algorithms such as Rapidly-Exploring Random Tree Star (RRT*) has been widely applied in robot path planning. Although this variant of RRT offers asymptotic optimality, its use is increasingly limited ber:ause it suffers from convergence rates, mainly when applied to an env...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IIUM Press
2023
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/8525/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf |
| _version_ | 1825710589336354816 |
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| author | SUWOYO, HERU ADRIANSYAH, ANDI JULI RI ANDIKA, JULI RI ANDIKA SHAMSUDIN, ABU UBAIDAH ZAKARIA, MOHAMAD FAUZI |
| author_facet | SUWOYO, HERU ADRIANSYAH, ANDI JULI RI ANDIKA, JULI RI ANDIKA SHAMSUDIN, ABU UBAIDAH ZAKARIA, MOHAMAD FAUZI |
| author_sort | SUWOYO, HERU |
| collection | UTHM |
| description | The use o = sampling-based algorithms such as Rapidly-Exploring Random Tree Star (RRT*) has been widely applied in robot path planning. Although this variant of RRT offers asymptotic optimality, its use is increasingly limited ber:ause it suffers from convergence rates, mainly when applied to an environment with a poor level of obstacle neatness and a narrow area to the target. Thus, RRT*-Smart, a further development of RRT*, is considered ideal for solving RRT* problems. Unlike RRT*, RRT*-Smart applies a path optimization by removing the redundant nodes from the initial path when it is gained. Moreover, the path is also improved by identifying the beacon nodes used to steer the bias of intelligent sampling. Nevertheless, this initial path is found with termination criteria in terms of a region around the goal node. Consequently, it risks failing to generate a path on a narrow channel. Therefore, a novel algorithm achieved by combining RRT*-Smart and A* is proposed. This combination is intended to s v1/4 itch method-by -method for the exploration process vyhen the new node reaches the region around the goal node. However, before RRT*-Smart is combined •...ith A*, it is improved by replacing the random sampling method with Fast Sampling. In short, by involving A*. the exploration process for generating the .mart-RRT*'s initial path can be supported. It gives the optimal and feasible raw solution for any complex environment. It is logically realistic because A* searches and evaluates all neighbors of a current node when finding the node with low cost to the start and goal node for each iteration. Therefore, the risk of collision with an obstacle in the goal region is covered, and generating an initial path in the narrow channel can be handled. Furthermore, this proposed method's optimality and fast convergence rate are satisfied. |
| first_indexed | 2024-03-05T21:59:53Z |
| format | Article |
| id | uthm.eprints-8525 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English |
| last_indexed | 2024-03-05T21:59:53Z |
| publishDate | 2023 |
| publisher | IIUM Press |
| record_format | dspace |
| spelling | uthm.eprints-85252023-04-05T03:07:46Z http://eprints.uthm.edu.my/8525/ AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT SUWOYO, HERU ADRIANSYAH, ANDI JULI RI ANDIKA, JULI RI ANDIKA SHAMSUDIN, ABU UBAIDAH ZAKARIA, MOHAMAD FAUZI TD878-894 Special types of environment, Including soil pollution, air pollution, noise pollution The use o = sampling-based algorithms such as Rapidly-Exploring Random Tree Star (RRT*) has been widely applied in robot path planning. Although this variant of RRT offers asymptotic optimality, its use is increasingly limited ber:ause it suffers from convergence rates, mainly when applied to an environment with a poor level of obstacle neatness and a narrow area to the target. Thus, RRT*-Smart, a further development of RRT*, is considered ideal for solving RRT* problems. Unlike RRT*, RRT*-Smart applies a path optimization by removing the redundant nodes from the initial path when it is gained. Moreover, the path is also improved by identifying the beacon nodes used to steer the bias of intelligent sampling. Nevertheless, this initial path is found with termination criteria in terms of a region around the goal node. Consequently, it risks failing to generate a path on a narrow channel. Therefore, a novel algorithm achieved by combining RRT*-Smart and A* is proposed. This combination is intended to s v1/4 itch method-by -method for the exploration process vyhen the new node reaches the region around the goal node. However, before RRT*-Smart is combined •...ith A*, it is improved by replacing the random sampling method with Fast Sampling. In short, by involving A*. the exploration process for generating the .mart-RRT*'s initial path can be supported. It gives the optimal and feasible raw solution for any complex environment. It is logically realistic because A* searches and evaluates all neighbors of a current node when finding the node with low cost to the start and goal node for each iteration. Therefore, the risk of collision with an obstacle in the goal region is covered, and generating an initial path in the narrow channel can be handled. Furthermore, this proposed method's optimality and fast convergence rate are satisfied. IIUM Press 2023 Article PeerReviewed text en http://eprints.uthm.edu.my/8525/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf SUWOYO, HERU and ADRIANSYAH, ANDI and JULI RI ANDIKA, JULI RI ANDIKA and SHAMSUDIN, ABU UBAIDAH and ZAKARIA, MOHAMAD FAUZI (2023) AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT. IIUM Engineering Journal, 24 (1). pp. 1-16. ISSN 1511-758x https://doi.org/110,31436/iiurnej.v24i1,2529 |
| spellingShingle | TD878-894 Special types of environment, Including soil pollution, air pollution, noise pollution SUWOYO, HERU ADRIANSYAH, ANDI JULI RI ANDIKA, JULI RI ANDIKA SHAMSUDIN, ABU UBAIDAH ZAKARIA, MOHAMAD FAUZI AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title | AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title_full | AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title_fullStr | AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title_full_unstemmed | AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title_short | AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT |
| title_sort | integrated rrt smart a algorithm for solving the global path planning problem in a static environment |
| topic | TD878-894 Special types of environment, Including soil pollution, air pollution, noise pollution |
| url | http://eprints.uthm.edu.my/8525/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf |
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