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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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dc.contributor.authorBraun, João
dc.contributor.authorBrito, Thadeu
dc.contributor.authorLima, José
dc.contributor.authorCosta, Paulo Gomes da
dc.contributor.authorCosta, Pedro
dc.contributor.authorNakano, Alberto Yoshiro
dc.date.accessioned2023-03-03T14:31:27Z
dc.date.available2023-03-03T14:31:27Z
dc.date.issued2019
dc.description.abstractThere 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.pt_PT
dc.description.sponsorshipThis work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundac¸ao para ˜ a Ciencia e a Tecnologia (Portuguese Foundation ˆ for Science and Technology) as part of project UID/EEA/50014/2013.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationBraun, 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. 398-405pt_PT
dc.identifier.doi10.5220/0008118803980405pt_PT
dc.identifier.urihttp://hdl.handle.net/10198/27448
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherScitepresspt_PT
dc.relationINESC TEC - INESC Technology and Science
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectMobile roboticspt_PT
dc.subjectPath planningpt_PT
dc.subjectA-starpt_PT
dc.subjectRRT-starpt_PT
dc.subjectDynamics simulationpt_PT
dc.titleA comparison of A* and RRT* algorithms with dynamic and real time constraint scenarios for mobile robotspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.awardTitleINESC TEC - INESC Technology and Science
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UID%2FEEA%2F50014%2F2013/PT
oaire.citation.conferencePlacePraguept_PT
oaire.citation.endPage405pt_PT
oaire.citation.startPage398pt_PT
oaire.citation.title9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2019pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBraun
person.familyNameBrito
person.familyNameLima
person.givenNameJoão A.
person.givenNameThadeu
person.givenNameJosé
person.identifierBjSISEAAAAAJ
person.identifierR-000-8GD
person.identifier.ciencia-idBF13-D66B-7D08
person.identifier.ciencia-idC911-A95D-712F
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0002-5962-0517
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id57200694948
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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