HYBRID OPERATION OF A* AND PRM ALGORITHMS FOR EFFICIENT PATH PLANNING IN AUTONOMOUS MOBILE ROBOTS

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Atıf İçin Kopyala

Uzun B., Gozde H., TAPLAMACIOĞLU M. C.

International Journal on Technical and Physical Problems of Engineering, cilt.14, sa.1, ss.183-189, 2022 (Scopus)

• Yayın Türü: Makale / Tam Makale
• Cilt numarası: 14 Sayı: 1
• Basım Tarihi: 2022
• Dergi Adı: International Journal on Technical and Physical Problems of Engineering
• Derginin Tarandığı İndeksler: Scopus
• Sayfa Sayıları: ss.183-189
• Anahtar Kelimeler: A* Algorithm, Mobile Robot Path Planning, PRM Algorithm
• Gazi Üniversitesi Adresli: Evet

Özet

© 2022, International Organization on 'Technical and Physical Problems of Engineering'. All rights reserved.These days, developing robot technology is used in many areas of human life and one of the most widely used areas is mobile robots. The most basic problems of mobile robots are their ability to calculate optimum route and find their way in short time. Nowadays, the A* algorithm is a successful and efficient algorithm used in most robot applications. However, route calculation times are very high on large-scale maps. The PRM algorithm is a probabilistic algorithm and can calculate routes in short time even on large-scale maps. In this study, the A* algorithm is combined with the PRM algorithm so that it could find a path in shorter times. The combined new algorithm and the classical A* algorithm is compared in terms of path length and path generation time.