SMART PROBABILISTIC ROAD MAP (SMART-PRM): FAST ASYMPTOTICALLY OPTIMAL PATH PLANNING USING SMART SAMPLING STRATEGIES

Muhammad Aria Rajasa Pohan; ,; Jana Utama; ,

Article Details

SMART PROBABILISTIC ROAD MAP (SMART-PRM): FAST ASYMPTOTICALLY OPTIMAL PATH PLANNING USING SMART SAMPLING STRATEGIES

Authors:

Muhammad Aria Rajasa Pohan | , | Jana Utama | ,

Publisher:

Princess Sumaya University for Technology

Journal:

Jordanian Journal of Computers and Information Technology Vol.10 Issue 2, pp.0-0

Document Type:

Article

Publication Date:

1/2024

Document Language:

English

Document ID (Org No.):

2001937023

pISSN:

2413-9351

Keywords:

Abstract:

 An asymptotically optimal path-planning guarantees an optimal solution if given sufficient running time. This research proposes a novel, fast, asymptotically optimal path-planning algorithm. The method uses five smart sampling strategies to improve the probabilistic road map (PRM). First, it generates samples using an informed search procedure. Second, it employs incremental search techniques on increasingly dense samples. Third, samples are generated around the best solution. Fourth, generated around obstacles. Fifth, it repairs the found route. This algorithm is called the Smart PRM (Smart-PRM). The Smart-PRM was compared to PRM, informed PRM and informed rapidly-exploring random tree*-connect. Smart-PRM can generate the optimal path for any test case. The shortest distance between the start and goal nodes is the optimal path criterion. Smart-PRM finds the best path faster than competing algorithms. As a result, the Smart-PRM has the potential to be used in a wide variety of applications requiring the best path-planning algorithm.

Article Details

SMART PROBABILISTIC ROAD MAP (SMART-PRM): FAST ASYMPTOTICALLY OPTIMAL PATH PLANNING USING SMART SAMPLING STRATEGIES

Authors:

Muhammad Aria Rajasa Pohan | , | Jana Utama | ,

Publisher:

Princess Sumaya University for Technology

Journal:

Jordanian Journal of Computers and Information Technology Vol.10 Issue 2, pp.0-0

Document Type:

Article

Publication Date:

1/2024

Document Language:

English

Document ID (Org No.):

2001937023

pISSN:

2413-9351

Probabilistic road map

Fast asymptotically optimal

Path planning

Intelligent sampling

Informed search

Issues

Article Details

SMART PROBABILISTIC ROAD MAP (SMART-PRM): FAST ASYMPTOTICALLY OPTIMAL PATH PLANNING USING SMART SAMPLING STRATEGIES

Authors: Muhammad Aria Rajasa Pohan | , | Jana Utama | ,

Publisher: Princess Sumaya University for Technology

Journal: Jordanian Journal of Computers and Information Technology Vol.10 Issue 2, pp.0-0

Document Type: Article

Publication Date: 1/2024

Document Language: English

Document ID (Org No.): 2001937023

pISSN: 2413-9351

Probabilistic road map

Fast asymptotically optimal

Path planning

Intelligent sampling

Informed search

Issues

Authors:

Muhammad Aria Rajasa Pohan | , | Jana Utama | ,

Publisher:

Princess Sumaya University for Technology

Journal:

Jordanian Journal of Computers and Information Technology Vol.10 Issue 2, pp.0-0

Document Type:

Article

Publication Date:

1/2024

Document Language:

English

Document ID (Org No.):

2001937023

pISSN:

2413-9351