Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/4350
Title: | Multi-Feature Enhancement of Standard and Modified A-star and RRT Algorithms |
Authors: | Warrier, Arjun Rajeev Nedunghat, Pranav Bera, Manas Kumar Kumar, Manas |
Keywords: | Path planning Autonomous navigation Mobile robot navigation Obstacle avoidance |
Issue Date: | Jan-2024 |
Citation: | 3rd International Conference on Control, Instrumentation, Energy & Communication (CIEC), University of Calcutta, India, 25-27 January 2024 |
Abstract: | This manuscript suggests improvements in offline path planning algorithms: A-star (A*) and Rapidly Exploring Random Trees (RRT)- well-celebrated algorithms for robot path planning. The conventional algorithm of A* is reliable for path length efficiency, while RRT focuses on relaxing computation complexity. Specifically, this work aims to introduce three feature enhancements: bi-directionality, obstacle padding, and smoothing—to improve the capability of traditional algorithms. These enhancements have been applied to A*, a modified version of RRT, and the jump-point search (JPS) variant of A*. A comparative study is presented for the path-planning of a nonholonomic autonomous mobile robot to assess the effectiveness of these modified algorithms with augmented features. The simulations were conducted using MATLAB, where a configuration space with multiple obstacles is considered. Finally, insights into the advantages offered by these enhancements and their impact on the performance of the algorithms have been discussed in detail |
Description: | Copyright belongs to proceeding publisher |
URI: | http://hdl.handle.net/2080/4350 |
Appears in Collections: | Conference Papers |
Files in This Item:
File | Description | Size | Format | |
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2024_CIEC_AR Warrier_Multi-Feature.pdf | 596.69 kB | Adobe PDF | View/Open Request a copy |
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