Name
Abstract | ||
|---|---|---|
RRT* is a recent and improved variant of the RRT path finding algorithm. While RRT concentrates on simply finding an initial obstacle-free path, RRT* guarantees eventual convergence to an optimum, collision-free path for any given geometrical environment. On the other hand, the main limitations of RRT* include its slow processing rate and high memory utilization due to the large number of iterations required to achieve optimal path solution. This paper presents Triangular Geometerised-RRT* (TG-RRT*) which incorporates Triangular geometrical methods in the RRT* algorithm and improves its processing time by decreasing the number of iterations required for optimal solution. Simulation results under different environments demonstrate an improved convergence rate of TG-RRT*, in comparison with RRT*. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/AMC.2014.6823312 | AMC |
Keywords | Field | DocType |
collision avoidance,convergence of numerical methods,geometry,iterative methods,mobile robots,rrt path finding algorithm,rrt*-motion planner,collision-free path,geometrical environment,high memory utilization,improved convergence rate,initial obstacle-free path,slow processing rate,triangular geometerised-rrt*,triangular geometry based optimal motion planning,directed sampling,rrt*,sampling based optimal motion planning,planning,zinc,simulation | Convergence (routing),Motion planning,Mathematical optimization,Computer science,Planner,Control engineering,Rate of convergence | Conference |
ISSN | Citations | PageRank |
1943-6572 | 1 | 0.38 |
References | Authors | |
6 | 8 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ahmed Hussain Qureshi | 1 | 54 | 8.83 |
| sami mumtaz | 2 | 1 | 0.38 |
| Khawaja Fahad Iqbal | 3 | 7 | 1.65 |
| yasar ayaz | 4 | 1 | 1.39 |
| Mannan Saeed Muhammad | 5 | 13 | 4.08 |
| osman hasan | 6 | 1 | 2.07 |
| Whoi-Yul Kim | 7 | 518 | 47.84 |
| Moonsoo Ra | 8 | 11 | 4.09 |