RRT*N: An improved rapidly-exploring random tree approach for reduced processing times
- Resource Type
- Conference
- Authors
- Mohammed, Hussein; Jaradat, Mohammad; Romdhane, Lotfi
- Source
- 2018 11th International Symposium on Mechatronics and its Applications (ISMA) Mechatronics and its Applications (ISMA), 2018 11th International Symposium on. :1-6 Mar, 2018
- Subject
- Aerospace
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Robots
Heuristic algorithms
Probability distribution
Gaussian distribution
Standards
Path planning
Memory management
RRT
RRT∗
path planning
optimal path
robot
navigation
- Language
In this paper, we aim to improve on the processing time taken to run the Rapidly-Exploring Random Tree Star (RRT∗) algorithm with no regard for the path length. By restricting the area or volume in which the algorithm's nodes can be generated, a net improvement of the speed is observer. A further step is taken where the restriction is controller to either be in the form of a normal probability distribution or a uniform probability distribution. Both modifications are presented with the normal distribution resulting in significant improvements in the processing times.