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A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots

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Resumo:There is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the robotic areas in the direction of the decision. The autonomous robots should actually decide the path according to the dynamic environment. In some cases, time requirements must also be attended and require fast path planning methods. This paper addresses a comparison between well-known path planning methods using a realistic simulator that handles the dynamic properties of robot models including sensors. The methodology is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with dynamic and real time constraint scenarios.
Autores principais:Braun, João
Outros Autores:Brito, Thadeu; Lima, José; Costa, Paulo Gomes da; Costa, Pedro; Nakano, Alberto Yoshiro
Assunto:Mobile robotics Path planning A-star RRT-star Dynamics simulation
Ano:2019
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso aberto
Instituição associada:Instituto Politécnico de Bragança
Idioma:inglês
Origem:Biblioteca Digital do IPB

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