Mthabela, CWithey, DanielKuchwa-Dube, C2022-10-242022-10-242021-11Mthabela, C., Withey, D. & Kuchwa-Dube, C. 2021. Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions. http://hdl.handle.net/10204/12507 .http://hdl.handle.net/10204/12507The increasing application of ground robots requires efficient path planning algorithms in three-dimensional (3D) environments containing non-spherical topology. Path planning on surface meshes is possible, however, expensive computation of geodesics is required. To reduce the length and, hence, cost of the geodesics, a growing submesh based on local regions is used. Rapidly-exploring Random Trees (RRT) with local regions are computed and compared with the bi- directional variant, based on RRT-Connect. Results show that RRT-Connect with local regions reduces the computational burden for mesh-based path planning.FulltextenThree-dimensional displaysGreen productsPath planningTopologyGround robot path planning3D mesh surfacesConference PresentationMthabela, C., Withey, D., & Kuchwa-Dube, C. (2021). Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions. http://hdl.handle.net/10204/12507Mthabela, C, Daniel Withey, and C Kuchwa-Dube. "Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions." <i>2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA), CSIR Conference Centre, Pretoria, South Africa, 3-5 November 2021</i> (2021): http://hdl.handle.net/10204/12507Mthabela C, Withey D, Kuchwa-Dube C, Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions; 2021. http://hdl.handle.net/10204/12507 .TY - Conference Presentation AU - Mthabela, C AU - Withey, Daniel AU - Kuchwa-Dube, C AB - The increasing application of ground robots requires efficient path planning algorithms in three-dimensional (3D) environments containing non-spherical topology. Path planning on surface meshes is possible, however, expensive computation of geodesics is required. To reduce the length and, hence, cost of the geodesics, a growing submesh based on local regions is used. Rapidly-exploring Random Trees (RRT) with local regions are computed and compared with the bi- directional variant, based on RRT-Connect. Results show that RRT-Connect with local regions reduces the computational burden for mesh-based path planning. DA - 2021-11 DB - ResearchSpace DP - CSIR J1 - 2021 Rapid Product Development Association of South Africa - Robotics and Mechatronics - Pattern Recognition Association of South Africa (RAPDASA-RobMech-PRASA), CSIR Conference Centre, Pretoria, South Africa, 3-5 November 2021 KW - Three-dimensional displays KW - Green products KW - Path planning KW - Topology KW - Ground robot path planning KW - 3D mesh surfaces LK - https://researchspace.csir.co.za PY - 2021 T1 - Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions TI - Ground robot path planning on 3D mesh surfaces using Bi-directional RRT based on local regions UR - http://hdl.handle.net/10204/12507 ER -25225