AN INTEGRATED RRT*SMART-A* ALGORITHM FOR SOLVING THE GLOBAL PATH PLANNING PROBLEM IN A STATIC ENVIRONMENT

• Main Authors: HERU SUWOYO, HERU SUWOYO, ANDI ADRIANSYAH, ANDI ADRIANSYAH, JULPRI ANDIKA, JULPRI ANDIKA, SHAMSUDIN, A LT UBAIDAH, ZAKARIA, MOHAMAD FAUZI
• Format: Article
• Language: English
• Published: 2023
• Subjects: TA170-171 Environmental engineering
• Online Access: http://eprints.uthm.edu.my/10166/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf; http://eprints.uthm.edu.my/10166/; https://d3iorg/10 31436/iiumej.v24i1.2529

The use o = sampling-based algorithms such as Rapidly-Exploring Random Tree Star (RRT*) has been widely applied in robot path planning. Although this variant of RRT offers asymptotic optimality, its use is increasingly limited ber:ause it suffers from convergence rates, mainly when applied to an env...