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A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots
Orientador(es)
Resumo(s)
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.
Descrição
Palavras-chave
Mobile robotics Path planning A-star RRT-star Dynamics simulation
Contexto Educativo
Citação
Braun, João; Brito, Thadeu; Lima, José; Costa, Paulo; Costa, Pedro; Nakano, Alberto (2019). A comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robots. In 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019. Prague. p. 398-405
Editora
Scitepress