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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/6254

Title: Using rapidly-exploring random tree-based algorithms to find smooth and optimal trajectories
Authors: Matebese, B
Banda, MK
Utete, S
Keywords: Rapidly-exploring Random Tree
RRT
Autonomous mobile robots
Sampling
Robotics
RRT*
Issue Date: Oct-2012
Citation: Matebese, B, Banda, MK and Utete, S. Using rapidly-exploring random tree-based algorithms to find smooth and optimal trajectories. 4th CSIR Biennial Conference: Real problems relevant solutions, CSIR, Pretoria, 9-10 October 2012
Abstract: Sampling-based methods such as Rapidly-exploring Random Tree (RRT) have been successfully used in solving motion planning problems in high-dimensional and complex environments. The RRT algorithm is the most popular and has the ability to find a feasible solution faster than other algorithms. The drawback of using RRT is that, as the number of samples increases, the probability that the algorithm converges to a sub-optimal solution increases. Furthermore, the path generated by this algorithm is not smooth (tree form). The RRT-based methods will be discussed and simulations are given to evaluate the performance of the methods.
Description: 4th CSIR Biennial Conference: Real problems relevant solutions, CSIR, Pretoria, 9-10 October 2012
URI: http://hdl.handle.net/10204/6254
Appears in Collections:CSIR Conference 2012
Advanced mathematical modelling and simulation
Mobile intelligent autonomous systems
General science, engineering & technology

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