RRT*-AB Framework for Path Planning of Mobile Robots

Abstract

Path planning for mobile robot is an important aspect of robotics. Path planning algorithms play a crucial role in robot's movement and response to the environment. RRT (Rapidly Exploring Random Trees) is a sampling-based path planning algorithm. RRT*-AB [1] is a recent addition to the family of sampling-based algorithms. This project aims to investigate different features of this algorithm and to develop it's free to use open-source library framework using python/C++ with the support of Artificial Intelligence, Robotics and computer Vision (AIRV) research group. The proposed library framework will be beneficial for the research community order to implement different applications related to exploration and rescue.