Undergraduate student Publication got accepted at IEEE RAS Conference

Recently, a paper of two undergraduate students from BEE5 Jauwairia Nasir and Fahad Islam got accepted at IEEE RAS sponsored International Conference on Mechatronics and Automation 2012, China. In this paper,they presented a novel motion planning algorithm RRT*-Smart based on a latest algorithm RRT*. They developed this algorithm during their Final Year Project titled "Motion Planning and Navigation of Mobile Robots". This algorithm is much more efficient in terms of path optimization and time complexity as compared to the RRT* algorithm. RRT* algorithm was developed at MIT by researchers Sertec Karaman and Emmillio Farazoli in 2010 and has been a very popular motion planning algorithm since then because of its advantages over other algorithms. Optimizing such an algorithm and reaching at far better results in terms of time and cost is a big achievement.The abstract of the paper is given below:

Abstract

Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. However, it cannot guarantee finding the most optimal path.. A recently proposed extension of RRT, known as Rapidly Exploring Random Tree Star (RRT*), claims to achieve convergence towards the optimal solution but has been proven to take an infinite time to do so and with a slow convergence rate. To overcome these limitations, we propose an extension of RRT*, called RRT*-Smart, which aims to accelerate its rate of convergence and to reach an optimum or near optimum solution at a much faster rate and at a reduced execution time. Our novel algorithm inculcates two new techniques in RRT*: these are path optimization and intelligent sampling. Simulation results presented in various obstacle cluttered environments confirm the efficiency of RRT*-Smart.

 

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