Investigation of RRT*-AB Approach for Bi-Directional Structures

Abstract

Path planning for mobile robots is an important aspect of robotics. Path planning algorithms play a crucial role in robot's movement and response to the environment. RRT*-AB (Rapidly Exploring Random Trees-Adjustable Bounds) [11] is a sampling-based path planning approach published. This project aims to investigate different features of this algorithm and to extend it with bi-directional structures. This Research and Development (R&D) project will propose a new algorithm based on some initial findings of BULC research group "Artificial Intelligence, Robotics and computer Vision" (AIRV) and further investigations during this project execution. The project will also develop free to use open-source library framework using python/C++ for the newly proposed approach. The proposed library framework will be beneficial for the research community, for further R&D in different applications related to autonomous robots in exploration and rescue etc.