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- W4386431020 abstract "The article studies the problem of path planning in two-dimensional environments. The review and analysis of known planning algorithms are carried out. This article is devoted to the development of a modified rapidly growing random trees algorithm (RRT) and the study of its effectiveness in comparison with known methods. The presented modified RRT algorithm checks the path to some area near the specified node while planning the path to a new potential node of the tree, which reduces the constructed nodes of the tree. The developed algorithm is compared with the original RRT algorithm. The comparison criteria are the path calculation time, the amount of memory required, the path length, and the percentage of situations in which the trajectory to the target point was successfully found. Next, the developed algorithm is compared with the planning algorithms of other classes. The study uses representative samples of numerical experiments and various environments that differ in the density of obstacles and the presence of mazes. A study of planning algorithms using the results of experiments on a ground-based wheeled robot has also been conducted." @default.
- W4386431020 created "2023-09-05" @default.
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- W4386431020 date "2023-01-01" @default.
- W4386431020 modified "2023-10-14" @default.
- W4386431020 title "Study of Path Planning Methods in Two-Dimensional Mapped Environments" @default.
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- W4386431020 doi "https://doi.org/10.1007/978-3-031-43111-1_13" @default.
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