An Integrated RRT*SMART-A* Algorithm for solving the Global Path Planning Problem in a Static Environment

• Main Authors: Suwoyo, Heru, Adriansyah, Andi, Andika, Julpri, Ubaidillah, Abu
• Format: Article
• Language: English
• Published: IIUM 2023
• Subjects: T Technology (General)
• Online Access: http://eprints.uthm.edu.my/8829/1/J15663_95d4320a330786e807526f22c3ad04c4.pdf; http://eprints.uthm.edu.my/8829/; https://doi.org/10.31436/iiumej.v24i1.2529

The use of 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 because it suffers from convergence rates, mainly when applied to an envir...