Yıl 2020, Cilt 1 , Sayı 2, Sayfalar 73 - 81 2020-12-29

RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots

Mahmut DİRİK [1] , Fatih KOCAMAZ [2]


The path planning problem is one of the most researched topics in autonomous vehicles. During the last decade, sampling-based algorithms for path planning have acquired significant attention from the research community. Rapidly exploring Random Tree (RRT) is a sampling-based planning approach, which is a concern to researchers due to its asymptotic optimality. However, the use of samples close to obstacles in path planning and the path with sharp turns does not make it efficient for real-time path tracking applications. For the purposes of overcoming these limitations, this paper proposes a combination of RRT and Dijkstra algorithms. The RRT-Dijkstra guarantees a shorter path planning to the optimum and collision-free solution. The optimality is measured by various factors such as path length, execution time, and the total number of turns. The aim here is review and performance comparison of these planners based on metrics, i.e., path length, execution time, and the total number of turning points. The algorithms are tested in complex structured with obstacles environments. The experimental performance shows that RRT-Dijkstra requires less turning point and execution time in 2D environments. These are advantages of the proposed method. The proposed method is suitable for off-line path planning and path-following.
Optimal criteria, Path planning, RRT, Dijkstra, Sampling-based algorithms
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Birincil Dil en
Konular Bilgisayar Bilimleri, Yapay Zeka, Robotik
Bölüm Research Articles
Yazarlar

Orcid: 0000-0003-1718-5075
Yazar: Mahmut DİRİK (Sorumlu Yazar)
Kurum: SIRNAK UNIVERSITY
Ülke: Turkey


Yazar: Fatih KOCAMAZ
Kurum: INONU UNIVERSITY, ., ., .
Ülke: Turkey


Tarihler

Başvuru Tarihi : 24 Ağustos 2020
Kabul Tarihi : 24 Eylül 2020
Yayımlanma Tarihi : 29 Aralık 2020

Bibtex @araştırma makalesi { jscai784679, journal = {Journal of Soft Computing and Artificial Intelligence}, issn = {2717-8226}, address = {Tecde Mah. Gulay Sok. No 6:10/Malatya}, publisher = {Mahmut DİRİK}, year = {2020}, volume = {1}, pages = {73 - 81}, doi = {}, title = {RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots}, key = {cite}, author = {Di̇ri̇k, Mahmut and Kocamaz, Fatih} }
APA Di̇ri̇k, M , Kocamaz, F . (2020). RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots . Journal of Soft Computing and Artificial Intelligence , 1 (2) , 73-81 . Retrieved from https://dergipark.org.tr/tr/pub/jscai/issue/56697/784679
MLA Di̇ri̇k, M , Kocamaz, F . "RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots" . Journal of Soft Computing and Artificial Intelligence 1 (2020 ): 73-81 <https://dergipark.org.tr/tr/pub/jscai/issue/56697/784679>
Chicago Di̇ri̇k, M , Kocamaz, F . "RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots". Journal of Soft Computing and Artificial Intelligence 1 (2020 ): 73-81
RIS TY - JOUR T1 - RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots AU - Mahmut Di̇ri̇k , Fatih Kocamaz Y1 - 2020 PY - 2020 N1 - DO - T2 - Journal of Soft Computing and Artificial Intelligence JF - Journal JO - JOR SP - 73 EP - 81 VL - 1 IS - 2 SN - 2717-8226- M3 - UR - Y2 - 2020 ER -
EndNote %0 Journal of Soft Computing and Artificial Intelligence RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots %A Mahmut Di̇ri̇k , Fatih Kocamaz %T RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots %D 2020 %J Journal of Soft Computing and Artificial Intelligence %P 2717-8226- %V 1 %N 2 %R %U
ISNAD Di̇ri̇k, Mahmut , Kocamaz, Fatih . "RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots". Journal of Soft Computing and Artificial Intelligence 1 / 2 (Aralık 2020): 73-81 .
AMA Di̇ri̇k M , Kocamaz F . RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots. JSCAI. 2020; 1(2): 73-81.
Vancouver Di̇ri̇k M , Kocamaz F . RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots. Journal of Soft Computing and Artificial Intelligence. 2020; 1(2): 73-81.
IEEE M. Di̇ri̇k ve F. Kocamaz , "RRT- Dijkstra: An Improved Path Planning Algorithm for Mobile Robots", Journal of Soft Computing and Artificial Intelligence, c. 1, sayı. 2, ss. 73-81, Ara. 2021