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Informative Article | Robotics Science | India | Volume 10 Issue 11, November 2021 | Rating: 4 / 10
A Comparison of RRT Connect and RRT Smart Path Planning for Higher Dimensional Robots
Abstract: Sampling based planning algorithms such as RRT Connect, RRT* and other sampling-based algorithms are extensively used for path planning of mobile robots. These algorithms are probabilistically complete and can easily be applied for higher dimensional complex problems. RRT* is an algorithm from the RRT family of algorithms which helps in faster convergence and this gives us the shortest path possible. This paper presents an analytical review of the two algorithms. Impact of different parameters on algorithm?s performance is evaluated. Moreover, performance comparison of different criteria like run time and total number of nodes in the tree is performed through a simulation on a 6 DOF robot in an environment with minimal obstacles. For simplicity, obstacles are considered as circles in this experiment.
Keywords: Path Planning, RRT Connect, RRT, mobile robots, Comparison
Edition: Volume 10 Issue 11, November 2021,
Pages: 1542 - 1545