RRT*-SMART: A Rapid Convergence Implementation of RRT*. (25th July 2013)
- Record Type:
- Journal Article
- Title:
- RRT*-SMART: A Rapid Convergence Implementation of RRT*. (25th July 2013)
- Main Title:
- RRT*-SMART: A Rapid Convergence Implementation of RRT*
- Authors:
- Nasir, Jauwairia
Islam, Fahad
Malik, Usman
Ayaz, Yasar
Hasan, Osman
Khan, Mushtaq
Muhammad, Mannan Saeed - Abstract:
- Many sampling based algorithms have been introduced recently. Among them Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. Although it ensures probabilistic completeness, it cannot guarantee finding the most optimal path. Rapidly Exploring Random Tree Star (RRT*), a recently proposed extension of RRT, claims to achieve convergence towards the optimal solution thus ensuring asymptotic optimality along with probabilistic completeness. However, it has been proven to take an infinite time to do so and with a slow convergence rate. In this paper an extension of RRT*, called as RRT*-Smart, has been prposed to overcome the limitaions of RRT*. The goal of the proposecd method is to accelerate the rate of convergence, in order to reach an optimum or near optimum solution at a much faster rate, thus reducing the execution time. The novel approach of the proposed algorithm makes use of two new techniques in RRT*–Path Optimization and Intelligent Sampling. Simulation results presented in various obstacle cluttered environments along with statistical and mathematical analysis confirm the efficiency of the proposed RRT*-Smart algorithm.
- Is Part Of:
- International journal of advanced robotic systems. Volume 10:Number 7(2013)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 10:Number 7(2013)
- Issue Display:
- Volume 10, Issue 7 (2013)
- Year:
- 2013
- Volume:
- 10
- Issue:
- 7
- Issue Sort Value:
- 2013-0010-0007-0000
- Page Start:
- Page End:
- Publication Date:
- 2013-07-25
- Subjects:
- Biasing Radius -- Path Optimization -- Biasing Ratio
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/56718 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 24525.xml