The purpose of this work is to implement, analyze and compare two different route planning algorithms in three different static environments which include: avoiding a single major obstacle, solving a navigation problem and finally going through narrow passages. The algorithms used are sampling-based algorithms, in particular they are bidirectional RRTs. They have been studied in order to find the best performance in terms of computational time and length of the final path.

Implementation, analysis and comparison of path planners based on generation of random point trees

Romanello, Giulia
2020/2021

Abstract

The purpose of this work is to implement, analyze and compare two different route planning algorithms in three different static environments which include: avoiding a single major obstacle, solving a navigation problem and finally going through narrow passages. The algorithms used are sampling-based algorithms, in particular they are bidirectional RRTs. They have been studied in order to find the best performance in terms of computational time and length of the final path.
2020-03-09
path planning, RRT, algorihtms
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12608/20964