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Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms

Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation...

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Main Authors: Muhammad, Aisha, Nor Rul Hasma, Abdullah, Mohammad A.H., Ali, Shanono, Ibrahim Haruna, Rosdiyana, Samad
Format: Conference or Workshop Item
Language:English
English
Published: Institute of Electrical and Electronics Engineers Inc. 2022
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf
http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf
http://umpir.ump.edu.my/id/eprint/39438/
https://doi.org/10.1109/ISCAIE54458.2022.9794473
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spelling my.ump.umpir.394382023-11-29T07:42:21Z http://umpir.ump.edu.my/id/eprint/39438/ Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms Muhammad, Aisha Nor Rul Hasma, Abdullah Mohammad A.H., Ali Shanono, Ibrahim Haruna Rosdiyana, Samad T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation method. In this study, four robust path planning algorithms, namely: Probabilistic Roadmaps (PRMs), A-star, the Rapidly Exploring Random Trees (RRTs), and Generalized Laser Simulator (GLS), were simulated and their performance was measured and compared according to the total path distance covered, search time and path smoothness. The result obtained reveals that all the four algorithms could navigate and generate a feasible through the 2D map successfully. The GLS algorithm performs better in all the measured parameters followed by the PRM, RRT, and then the A∗ algorithm. Institute of Electrical and Electronics Engineers Inc. 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf pdf en http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf Muhammad, Aisha and Nor Rul Hasma, Abdullah and Mohammad A.H., Ali and Shanono, Ibrahim Haruna and Rosdiyana, Samad (2022) Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms. In: 2022 12th IEEE Symposium on Computer Applications and Industrial Electronics, ISCAIE 2022, 21-22 May 2022 , Virtual, Online. pp. 258-263. (180132). ISBN 978-166548703-0 https://doi.org/10.1109/ISCAIE54458.2022.9794473
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Muhammad, Aisha
Nor Rul Hasma, Abdullah
Mohammad A.H., Ali
Shanono, Ibrahim Haruna
Rosdiyana, Samad
Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
description Path planning is among the essential qualities of an autonomous robot. The ability to build a collision-free pathway from a pre-defined point to another is known as path planning. There are a variety of approaches offered, all of which vary depending on the search pattern and the map representation method. In this study, four robust path planning algorithms, namely: Probabilistic Roadmaps (PRMs), A-star, the Rapidly Exploring Random Trees (RRTs), and Generalized Laser Simulator (GLS), were simulated and their performance was measured and compared according to the total path distance covered, search time and path smoothness. The result obtained reveals that all the four algorithms could navigate and generate a feasible through the 2D map successfully. The GLS algorithm performs better in all the measured parameters followed by the PRM, RRT, and then the A∗ algorithm.
format Conference or Workshop Item
author Muhammad, Aisha
Nor Rul Hasma, Abdullah
Mohammad A.H., Ali
Shanono, Ibrahim Haruna
Rosdiyana, Samad
author_facet Muhammad, Aisha
Nor Rul Hasma, Abdullah
Mohammad A.H., Ali
Shanono, Ibrahim Haruna
Rosdiyana, Samad
author_sort Muhammad, Aisha
title Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
title_short Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
title_full Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
title_fullStr Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
title_full_unstemmed Simulation performance comparison of A*, GLS, RRT and PRM path planning algorithms
title_sort simulation performance comparison of a*, gls, rrt and prm path planning algorithms
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2022
url http://umpir.ump.edu.my/id/eprint/39438/1/Simulation%20Performance%20Comparison%20of%20A%2C%20GLS%2C%20RRT%20and%20PRM%20Path.pdf
http://umpir.ump.edu.my/id/eprint/39438/2/Simulation%20performance%20comparison%20of%20A_%2C%20GLS%2C%20RRT%20and%20PRM%20path%20planning%20algorithms_ABS.pdf
http://umpir.ump.edu.my/id/eprint/39438/
https://doi.org/10.1109/ISCAIE54458.2022.9794473
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score 13.232414

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