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

• Main Authors: SUWOYO, HERU, ADRIANSYAH, ANDI, JULI RI ANDIKA, JULI RI ANDIKA, SHAMSUDIN, ABU UBAIDAH, ZAKARIA, MOHAMAD FAUZI
• Format: Article
• Language: English
• Published: IIUM Press 2023
• Subjects: TD878-894 Special types of environment, Including soil pollution, air pollution, noise pollution
• Online Access: http://eprints.uthm.edu.my/8525/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf; http://eprints.uthm.edu.my/8525/; https://doi.org/110,31436/iiurnej.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...