Optimal Control of Automated Guided Vehicle
Samadhan Devkar, Archana Thosar · 2023
The Rapidly-exploring Random Tree Star (RRT*) algorithm is a popular and effective motion planning approach in robotics and artificial intelligence (AI). The RRT* algorithm's essential characteristics, benefits, and applications are highlighted in this paper. The paper begins by introducing the problem of motion planning in robotic systems and the need for efficient algorithms to generate collision-free paths in complex environments. It then introduces the RRT* algorithm as a solution to this problem, emphasizing its ability to quickly explore the configuration space and find optimal or near-optimal paths. The core ideas behind the RRT* algorithm is explained in the paper, along with the notions of rapidly exploring trees, planning based on random sampling, and incremental tree growth. It illustrates the fundamental distinctions between RRT* and the RRT algorithm, such as the application of cost-to-come measures and rewiring strategies to enhance the optimality of the created pathways.