A novel directional sampling-based path planning algorithm for ambient intelligence navigation scheme in autonomous mobile robots

摘要

Path planning algorithms determine the performance of the ambient intelligence navigation schemes in autonomous mobile robots. Sampling-based path planning algorithms are widely employed in autonomous mobile robot applications. RRT*, or Optimal Rapidly Exploring Random Trees, is a very effective sampling-based path planning algorithm. However, the RRT* solution converges slowly. This study proposes a directional random sampling-based RRT* path planning algorithm known as DR-RRT* to address the slow convergence issue. The novelty of the proposed method is that it reduces the search space by combining directional non-uniform sampling with uniform sampling. It employs a random selection approach to combine the non-uniform directional sampling method with uniform sampling. The proposed path planning algorithm is validated in three different environments with a map size of 384*384, and its performance is compared to two existing algorithms: RRT* and Informed RRT*. Validation is carried out utilizing a TurtleBot3 robot with the Gazebo Simulator and the Robotics Operating System (ROS) Melodic. The proposed DR-RRT* path planning algorithm is better than both RRT* and Informed RRT* in four performance measures: the number of nodes visited, the length of the path, the amount of time it takes, and the rate at which the path converges. The proposed DR-RRT* global path planning algorithm achieves a success rate of 100% in all three environments, and it is suited for use in all kinds of environments.