| Autor: |
Ahmed Hussain Qureshi, Khawaja Fahad Iqbal, Saba Mumtaz, Mannan Saeed Muhammad, Badar Ali, Yasar Ayaz, Moonsoo Ra, Faizan Ahmed, Osman Hasan, Whoi-Yul Kim |
| Rok vydání: |
2013 |
| Předmět: |
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| Zdroj: |
ROBIO |
| DOI: |
10.1109/robio.2013.6739744 |
| Popis: |
The Rapidly Exploring Random Tree Star (RRT*) is an extension of the Rapidly Exploring Random Tree path finding algorithm. RRT* guarantees an optimal, collision free path solution but is limited by slow convergence rates and inefficient memory utilization. This paper presents APGD-RRT*, a variant of RRT* which utilizes Artificial Potential Fields to improve RRT* performance, providing relatively better convergence rates. Simulation results under different environments between the proposed APGD-RRT* and RRT* algorithms demonstrate this marked improvement under various test environments. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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