Motion Planning of an Autonomous Robot in Closed Space with Obstacles

Edvards Valbahs, Peter Grabusts


The paper deals with path planning software for a mobile robotic platform. The aim of the research paper is to analyse path planning algorithms that comprise the design of simulation software. The software is necessary as an environment model to obtain the simulation data. The simulation application is based on the Rapidly-Exploring Random Tree (RRT) algorithm and Simulated Annealing (SA). The results of the thorough analysis have been used to achieve optimal path planning algorithms.


Robotic; robot; RRT; Simulated Annealing; path planning

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