Mobile robots are now being used in various interior and outdoor applications. The demands of Industry 4.0 are pushing robotic domains in the direction of decision-making. The autonomous robots should choose their direction based on their surroundings. Path planning for a mobile robot involves generation of a collision-free path from a current state to desired location while meeting particular optimization criteria through the surrounding, which includes obstacles. In this context, reliable and efficient path planning is critical. According to a thorough literature review, it was found that the A* and Rapidly Exploring Random Tree (RRTRapidly Exploring Random Tree (RRT)) algorithms, as well as their derivatives, are the most viable path planning algorithms for mobile robots. This paper presents a comparative study of A*, RRTRapidly Exploring Random Tree (RRT), and RRT*RRT* path planning algorithms in a 2D warehouseWarehouse environment. The efficiency of planners was correlated with the varied attributes of configuration spaces using several warehouseWarehouse configuration spaces. The path length, runtime, and number of nodes in the path were among the performance measures. Based on the results obtained, a best-suited algorithm was selected for warehouseWarehouse robot path planning.
A Comparative Study of A*, RRT, and RRT* Algorithm for Path Planning in 2D Warehouse Configuration Space
Lect. Notes Electrical Eng.
International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022
2023-11-18
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Warehouse Systems: Logistical Aspects of Warehouse Planning
British Library Online Contents | 1997