Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Institute of Electrical and Electronics Engineers Inc.
2022
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| Online Access: | http://umpir.ump.edu.my/id/eprint/39438/ http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf |
| _version_ | 1848825769310027776 |
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| author | Muhammad, Aisha Nor Rul Hasma, Abdullah Mohammad A.H., Ali Shanono, Ibrahim Haruna Rosdiyana, Samad |
| author_facet | Muhammad, Aisha Nor Rul Hasma, Abdullah Mohammad A.H., Ali Shanono, Ibrahim Haruna Rosdiyana, Samad |
| author_sort | Muhammad, Aisha |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation method. In this study, four robust path planning algorithms, namely: Probabilistic Roadmaps (PRMs), A-star, the Rapidly Exploring Random Trees (RRTs), and Generalized Laser Simulator (GLS), were simulated and their performance was measured and compared according to the total path distance covered, search time and path smoothness. The result obtained reveals that all the four algorithms could navigate and generate a feasible through the 2D map successfully. The GLS algorithm performs better in all the measured parameters followed by the PRM, RRT, and then the A∗ algorithm. |
| first_indexed | 2025-11-15T03:34:11Z |
| format | Conference or Workshop Item |
| id | ump-39438 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:34:11Z |
| publishDate | 2022 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-394382023-11-29T07:42:21Z http://umpir.ump.edu.my/id/eprint/39438/ Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms Muhammad, Aisha Nor Rul Hasma, Abdullah Mohammad A.H., Ali Shanono, Ibrahim Haruna Rosdiyana, Samad T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation method. In this study, four robust path planning algorithms, namely: Probabilistic Roadmaps (PRMs), A-star, the Rapidly Exploring Random Trees (RRTs), and Generalized Laser Simulator (GLS), were simulated and their performance was measured and compared according to the total path distance covered, search time and path smoothness. The result obtained reveals that all the four algorithms could navigate and generate a feasible through the 2D map successfully. The GLS algorithm performs better in all the measured parameters followed by the PRM, RRT, and then the A∗ algorithm. Institute of Electrical and Electronics Engineers Inc. 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf pdf en http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf Muhammad, Aisha and Nor Rul Hasma, Abdullah and Mohammad A.H., Ali and Shanono, Ibrahim Haruna and Rosdiyana, Samad (2022) Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms. In: 2022 12th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2022 , 21-22 May 2022 , Virtual, Online. pp. 258-263. (180132). ISBN 978-166548703-0 (Published) https://doi.org/10.1109/ISCAIE54458.2022.9794473 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Muhammad, Aisha Nor Rul Hasma, Abdullah Mohammad A.H., Ali Shanono, Ibrahim Haruna Rosdiyana, Samad Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title | Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title_full | Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title_fullStr | Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title_full_unstemmed | Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title_short | Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms |
| title_sort | simulation performance comparison of a*, gls, rrt and prm path planning algorithms |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/39438/ http://umpir.ump.edu.my/id/eprint/39438/ http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf |