Open Access Open Access  Restricted Access Subscription or Fee Access

Performance Analysis of Robotic Path Planning Algorithms in a Deterministic Environment

R. Gayathri, V. Uma

Abstract



Motion planning is one of the fundamental challenging problems in the field of robotics. The objective is to find the shortest path traversed by the robot encountering any type of obstacles in the space. A number of intelligent path planning algorithms have been designed for solving motion planning problems. This paper presents the performance analyses of various robotic path planning algorithms for avoiding obstacles in a deterministic environment both quantitatively and qualitatively. This paper also discusses the benefits and drawbacks of each method and shows the simulation results of each algorithm on the explored space. These algorithms are tested under various situations with different degrees of complexities. The results analysis shows that with respect to time and path length, Rapidly Exploring Random Tree (RRT) algorithm perform better in finding the optimal path and reaching the specified target point in a given planning horizon.

Keywords


Path Planning Algorithms, Robotics, Deterministic environment, Planning, Plan representation, Path optimization.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.