Design of path planning robot simulator by applying sampling based method

Abstrak

This research aims to create a simulator for solving the global path planning of mobile robots. Various sampling-based methods such as Rapidly-exploring Random Tree (RRT), RRT*, and Fast-RRT, along with other derivative algorithms, have been widely used to solve path-planning problems in mobile robots. The level of computational efficiency, path optimality, and the ability to adapt to variant environments are some of the issues that still arise, although these techniques have shown good results in many cases. Although the existing solutions are innovative, comparison between the existing methods is still difficult due to significant differences in convergence speed, implementation complexity, and quality of the resulting paths. This makes choosing the most suitable method for a particular application difficult. The simulator uses sampling-based path planning algorithms such as RRT*, Fast RRT*, RRT*-Smart, informed-RRT*, and Honey Bee Mating Optimization-based Fast-RRT*. With this simulator, users can easily compare the performance of each algorithm and see the characteristics and efficiency of each algorithm in various situations. By running all methods through this simulator, the user can easily compare the methods based on convergence speed and optimality. Therefore, it will effectively help users understand robot navigation, improve the quality of learning, and promote the development of path-planning technology for mobile robots.