Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations

Rapidly-exploring Random Trees (RRT) is one of the coveted algorithms for path planning. However, the said algorithm, including its variants are yet to be evaluated in environments with complex topologies and constraints. Specific suggestions include changing parameters such as step size and radius,...

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Main Author: Mital, Matt Ervin G.
Format: text
Language:English
Published: Animo Repository 2021
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Online Access:https://animorepository.dlsu.edu.ph/etdm_ece/6
https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=1005&context=etdm_ece
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Institution: De La Salle University
Language: English
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spelling oai:animorepository.dlsu.edu.ph:etdm_ece-10052021-09-14T09:07:01Z Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations Mital, Matt Ervin G. Rapidly-exploring Random Trees (RRT) is one of the coveted algorithms for path planning. However, the said algorithm, including its variants are yet to be evaluated in environments with complex topologies and constraints. Specific suggestions include changing parameters such as step size and radius, as well as switching to other local planners to see positive effects and possible improvements. In this study, another RRT variant is formulated, named as RRT-M. Considering all necessary prerequisites, hardware and software requirements, mapping and localization, costmap configurations, and setting up the algorithm as a global planner plugin, experimentations were conducted in three map ennvironments (maze, bookstore, small village). Results show that RRT-M is compared to the RRT* base algorithm: at most a 61.983% improvement in path length, 58.4414% improvement in navigation duration, and 27.1768% in planning time. Through the produced graphs and visualizations, a qualitative assessment concludes that RRT-M works properly in narrow paths and prioritizes shorter path alternatives. 2021-09-01T07:00:00Z text application/pdf https://animorepository.dlsu.edu.ph/etdm_ece/6 https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=1005&context=etdm_ece Electronics And Communications Engineering Master's Theses English Animo Repository Wireless localization Geographical positions Robots Electrical and Electronics
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
language English
topic Wireless localization
Geographical positions
Robots
Electrical and Electronics
spellingShingle Wireless localization
Geographical positions
Robots
Electrical and Electronics
Mital, Matt Ervin G.
Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
description Rapidly-exploring Random Trees (RRT) is one of the coveted algorithms for path planning. However, the said algorithm, including its variants are yet to be evaluated in environments with complex topologies and constraints. Specific suggestions include changing parameters such as step size and radius, as well as switching to other local planners to see positive effects and possible improvements. In this study, another RRT variant is formulated, named as RRT-M. Considering all necessary prerequisites, hardware and software requirements, mapping and localization, costmap configurations, and setting up the algorithm as a global planner plugin, experimentations were conducted in three map ennvironments (maze, bookstore, small village). Results show that RRT-M is compared to the RRT* base algorithm: at most a 61.983% improvement in path length, 58.4414% improvement in navigation duration, and 27.1768% in planning time. Through the produced graphs and visualizations, a qualitative assessment concludes that RRT-M works properly in narrow paths and prioritizes shorter path alternatives.
format text
author Mital, Matt Ervin G.
author_facet Mital, Matt Ervin G.
author_sort Mital, Matt Ervin G.
title Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
title_short Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
title_full Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
title_fullStr Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
title_full_unstemmed Formulation of an alternative rapidly-exploring random trees (RRT) sampling based algorithm through parameter alterations
title_sort formulation of an alternative rapidly-exploring random trees (rrt) sampling based algorithm through parameter alterations
publisher Animo Repository
publishDate 2021
url https://animorepository.dlsu.edu.ph/etdm_ece/6
https://animorepository.dlsu.edu.ph/cgi/viewcontent.cgi?article=1005&context=etdm_ece
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