Abstract
Many algorithms have been proposed to tackle the path planning problem in mobile robots. Among the well-known and established algorithms are the Probabilistic Road Map (PRM) algorithm, A* algorithm, Genetic algorithm (GA), Rapidly-exploring random tree (RRT), and dual Rapidly-exploring random trees (RRT-connect). Hence, this paper will focus on the performance comparison between the aforementioned algorithms concerning computation time, path length, and fail and success rate for producing a path. For the sake of fair and conclusive results, simulation is conducted in two phases with four different environments, namely, free space environment, low cluttered environment, medium cluttered environment, and high cluttered environment. The results show that RRT-connect has a high success rate in producing a feasible path with the least computation time. Hence, RRTs-based sampling algorithms, in general, and RRT-connect, in specific, will be explored in-depth for possible optimization.
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Acknowledgment
This work was financed by the Ministry of Higher Education, Malaysia, through the Fundamental Research Scheme Grant (Ref: FRGS/1/2019/TK03/UNIMAP/02/6).
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Aljamali, Y.S. et al. (2022). Holonomic Mobile Robot Planners: Performance Analysis. In: Mahyuddin, N.M., Mat Noor, N.R., Mat Sakim, H.A. (eds) Proceedings of the 11th International Conference on Robotics, Vision, Signal Processing and Power Applications. Lecture Notes in Electrical Engineering, vol 829. Springer, Singapore. https://doi.org/10.1007/978-981-16-8129-5_143
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DOI: https://doi.org/10.1007/978-981-16-8129-5_143
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