A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots

João Braun, Thadeu Brito, José Lima, Paulo Costa, Pedro Costa, Alberto Nakano

2019

Abstract

There is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the robotic areas in the direction of the decision. The autonomous robots should actually decide the path according to the dynamic environment. In some cases, time requirements must also be attended and require fast path planning methods. This paper addresses a comparison between well-known path planning methods using a realistic simulator that handles the dynamic properties of robot models including sensors. The methodology is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with dynamic and real time constraint scenarios.

Paper Citation

in Harvard Style

Braun J., Brito T., Lima J., Costa P., Costa P. and Nakano A. (2019). A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots.In Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-381-0, pages 398-405. DOI: 10.5220/0008118803980405

in Bibtex Style

@conference{simultech19,
author={João Braun and Thadeu Brito and José Lima and Paulo Costa and Pedro Costa and Alberto Nakano},
title={A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots},
booktitle={Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2019},
pages={398-405},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008118803980405},
isbn={978-989-758-381-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots
SN - 978-989-758-381-0
AU - Braun J.
AU - Brito T.
AU - Lima J.
AU - Costa P.
AU - Costa P.
AU - Nakano A.
PY - 2019
SP - 398
EP - 405
DO - 10.5220/0008118803980405