RRT*FN (fixed nodes) - a novel path planning algorithm with effective memory utilization
| dc.contributor.author | Adiyatov, O. | |
| dc.contributor.author | Varol, H. A. | |
| dc.date.accessioned | 2015-11-04T09:51:41Z | |
| dc.date.available | 2015-11-04T09:51:41Z | |
| dc.date.issued | 2013 | |
| dc.description.abstract | In this work, we present a modified version of the RRT* motion planning algorithm, which limits the memory required for storing the tree. We run the RRT* algorithm until the tree has grown to a predefined number of nodes and afterwards we remove a weak node whenever a high performance node is added. A simple two-dimensional navigation problem is used to show the operation of the algorithm. The algorithm was also applied to a high-dimensional redundant robot manipulation problem to show the efficacy. The results show that our algorithm outperforms RRT and comes close to RRT* with respect to the optimality of returned path, while needing much less number of nodes stored in the tree. | ru_RU |
| dc.identifier.uri | http://nur.nu.edu.kz/handle/123456789/762 | |
| dc.language.iso | en | ru_RU |
| dc.publisher | Nazarbayev University | ru_RU |
| dc.subject | first research week | ru_RU |
| dc.subject | robotics | ru_RU |
| dc.subject | RRT* | ru_RU |
| dc.title | RRT*FN (fixed nodes) - a novel path planning algorithm with effective memory utilization | ru_RU |
| dc.type | Abstract | ru_RU |