Studi Performansi Algoritma Perencanaan Jalur diantara PRM, RRT, RRT* dan Informed-RRT

2020 ◽  
Vol 7 (2) ◽  
Author(s):  
Nelci Dessy Rumlaklak
Keyword(s):  
Path Planning ◽  
Optimality Criteria ◽  
Computational Time ◽  
Comparative Performance ◽  
Performance Review ◽  
Probabilistic Roadmap ◽  
Simulation Based ◽  
Planning Algorithms ◽  
Working Parameters ◽  
Conclusion Section

This paper will discuss a comparative performance review of several path planning algorithms. This study compares five well-known path planning algorithms, namely the Probabilistic Roadmap (PRM), Rapidly-exploring Random Tree (RRT), RRT* and Informed-RRT* algorithm. Testing is done through simulation based experiments using python. The test was conducted using several existing benchmark cases, namely narrow, maze, trap and clutter environment. The optimality criteria compared are path costs, computational time and the total number of nodes in the tree needed. The results of this study will provide information to readers about which algorithm is most suitable for use in user applications where there are several working parameters to be optimized. The findings have been summarized in the conclusion section. Keywords ­: Motion planning, PRM, RRT, RRT*, Informed-RRT*

Overview of Path-Planning and Obstacle Avoidance Algorithms for UAVs: A Comparative Study

2018 ◽  
Vol 06 (02) ◽  
pp. 95-118 ◽  
Author(s):  
Mohammadreza Radmanesh ◽  
Manish Kumar ◽  
Paul H. Guentert ◽  
Mohammad Sarim
Keyword(s):  
Path Planning ◽  
Comparative Study ◽  
Operating Conditions ◽  
Computational Time ◽  
Safe Operation ◽  
Sense And Avoid ◽  
Planning Algorithms ◽  
And Control ◽  
Global And Local ◽  
Further Development

Unmanned aerial vehicles (UAVs) have recently attracted the attention of researchers due to their numerous potential civilian applications. However, current robot navigation technologies need further development for efficient application to various scenarios. One key issue is the “Sense and Avoid” capability, currently of immense interest to researchers. Such a capability is required for safe operation of UAVs in civilian domain. For autonomous decision making and control of UAVs, several path-planning and navigation algorithms have been proposed. This is a challenging task to be carried out in a 3D environment, especially while accounting for sensor noise, uncertainties in operating conditions, and real-time applicability. Heuristic and non-heuristic or exact techniques are the two solution methodologies that categorize path-planning algorithms. The aim of this paper is to carry out a comprehensive and comparative study of existing UAV path-planning algorithms for both methods. Three different obstacle scenarios test the performance of each algorithm. We have compared the computational time and solution optimality, and tested each algorithm with variations in the availability of global and local obstacle information.

Artificial Intelligence for Extended Software Robots, Applications, Algorithms, and Simulators

2020 ◽  
pp. 71-92
Author(s):  
Gayathri Rajendran ◽  
Uma Vijayasundaram
Keyword(s):  
Artificial Intelligence ◽  
Path Planning ◽  
Domain Knowledge ◽  
Robot Navigation ◽  
Machine Learning Algorithms ◽  
Computational Time ◽  
Advanced Technique ◽  
Navigation Data ◽  
Planning Algorithms

Robotics has become a rapidly emerging branch of science, addressing the needs of humankind by way of advanced technique, like artificial intelligence (AI). This chapter gives detailed explanation about the background knowledge required in implementing the software robots. This chapter has an in-depth explanation about different types of software robots with respect to different applications. This chapter would also highlight some of the important contributions made in this field. Path planning algorithms are required for performing robot navigation efficiently. This chapter discusses several robot path planning algorithms which help in utilizing the domain knowledge, avoiding the possible obstacles, and successfully accomplishing the tasks in lesser computational time. This chapter would also provide a case study on robot navigation data and explain the significant of machine learning algorithms in decision making. This chapter would also discuss some of the potential simulators used in implementing software robots.

scholarly journals Time-efficient path planning using two virtual robots

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141988674
Author(s):  
Jonghoek Kim
Keyword(s):  
Path Planning ◽  
Finite Time ◽  
Free Space ◽  
Path Length ◽  
Optimal Path ◽  
Three Dimensional ◽  
Computational Time ◽  
Topological Map ◽  
Planning Algorithms ◽  
Safe Path

This article introduces time-efficient path planning algorithms handling both path length and safety within a reasonable computational time. The path is planned considering the robot’s size so that as the robot traverses the constructed path, it doesn’t collide with an obstacle boundary. This article introduces two virtual robots deploying virtual nodes which discretize the obstacle-free space into a topological map. Using the topological map, the planner generates a safe and near-optimal path within a reasonable computational time. It is proved that our planner finds a safe path to the goal in finite time. Using MATLAB simulations, we verify the effectiveness of our path planning algorithms by comparing it with the rapidly-exploring random tree (RRT)-star algorithm in three-dimensional environments.

scholarly journals A Performance Review of Collision-Free Path Planning Algorithms

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 316
Author(s):  
Hyunwoo Shin ◽  
Junjae Chae
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Mobile Agents ◽  
Future Research ◽  
Computing Environment ◽  
Performance Review ◽  
Spatial Environment ◽  
Planning Algorithms ◽  
A Performance

Path planning for mobile agents is one of the areas that has drawn the attention of researchers’, as evidenced in the large number of papers related to the collision-free path planning (CFPP) algorithm. The purpose of this paper is to review the findings of those CFPP papers and the methodologies used to generate possible solutions for CFPP for mobile agents. This survey shows that the previous CFPP papers can be divided based on four characteristics. The performance of each method primarily used to solve CFPP in previous research is evaluated and compared. Several methods are implemented and tested in same computing environment to compare the performance of generating solution in specified spatial environment with different obstacles or size. The strengths and weakness of each methodology for CFPP are shown through this survey. Ideally, this paper will provide reference for new future research.

scholarly journals Object Detection, Distributed Cloud Computing and Parallelization Techniques for Autonomous Driving Systems

2021 ◽  
Vol 11 (7) ◽  
pp. 2925
Author(s):  
Edgar Cortés Gallardo Medina ◽  
Victor Miguel Velazquez Espitia ◽  
Daniela Chípuli Silva ◽  
Sebastián Fernández Ruiz de las Cuevas ◽  
Marco Palacios Hirata ◽  
...  
Keyword(s):  
Neural Networks ◽  
Cloud Computing ◽  
Path Planning ◽  
Object Detection ◽  
Short Term Memory ◽  
Smart Cities ◽  
Autonomous Vehicle ◽  
Computational Time ◽  
End To End ◽  
On The Road

Autonomous vehicles are increasingly becoming a necessary trend towards building the smart cities of the future. Numerous proposals have been presented in recent years to tackle particular aspects of the working pipeline towards creating a functional end-to-end system, such as object detection, tracking, path planning, sentiment or intent detection, amongst others. Nevertheless, few efforts have been made to systematically compile all of these systems into a single proposal that also considers the real challenges these systems will have on the road, such as real-time computation, hardware capabilities, etc. This paper reviews the latest techniques towards creating our own end-to-end autonomous vehicle system, considering the state-of-the-art methods on object detection, and the possible incorporation of distributed systems and parallelization to deploy these methods. Our findings show that while techniques such as convolutional neural networks, recurrent neural networks, and long short-term memory can effectively handle the initial detection and path planning tasks, more efforts are required to implement cloud computing to reduce the computational time that these methods demand. Additionally, we have mapped different strategies to handle the parallelization task, both within and between the networks.

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