Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments
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 optimali...
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| Format: | Article |
| Language: | English |
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Penerbit Universiti Kebangsaan Malaysia
2013
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| Online Access: | http://journalarticle.ukm.my/6645/ http://journalarticle.ukm.my/6645/1/4294-9959-1-PB.pdf |
| _version_ | 1848811223319052288 |
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| author | Jauwairia Nasir, Fahad Islam, Yasar Ayaz, |
| author_facet | Jauwairia Nasir, Fahad Islam, Yasar Ayaz, |
| author_sort | Jauwairia Nasir, |
| building | UKM Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T23:42:59Z |
| format | Article |
| id | oai:generic.eprints.org:6645 |
| institution | Universiti Kebangasaan Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T23:42:59Z |
| publishDate | 2013 |
| publisher | Penerbit Universiti Kebangsaan Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:generic.eprints.org:66452016-12-14T06:41:47Z http://journalarticle.ukm.my/6645/ Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments Jauwairia Nasir, Fahad Islam, Yasar Ayaz, 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. Penerbit Universiti Kebangsaan Malaysia 2013-12 Article PeerReviewed application/pdf en http://journalarticle.ukm.my/6645/1/4294-9959-1-PB.pdf Jauwairia Nasir, and Fahad Islam, and Yasar Ayaz, (2013) Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments. Asia-Pacific Journal of Information Technology and Multimedia, 2 (2). pp. 39-51. ISSN 2289-2192 http://ejournals.ukm.my/apjitm/index |
| spellingShingle | Jauwairia Nasir, Fahad Islam, Yasar Ayaz, Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title | Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title_full | Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title_fullStr | Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title_full_unstemmed | Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title_short | Adaptive rapidly-exploring-random-tree-star (Rrt*) -Smart: algorithm characteristics and behavior analysis in complex environments |
| title_sort | adaptive rapidly-exploring-random-tree-star (rrt*) -smart: algorithm characteristics and behavior analysis in complex environments |
| url | http://journalarticle.ukm.my/6645/ http://journalarticle.ukm.my/6645/ http://journalarticle.ukm.my/6645/1/4294-9959-1-PB.pdf |