A Comparison Between A* and RRT Algorithm in Path Planning for Mobile Robot

摘要

The ability of mobile devices to navigate environments is vital. Navigation plays a critical role in averting collisions and hazardous situations.The design of paths is an essential component of robot navigation. comprising the ability to determine the optimal route from the robot's current location to a given destination. And in all state-of-the-art algorithms for robots to design the optimal route, A* and RRT algorithm stand out as the two most widely used path planning techniques, one is graph-based approach while the other is sample-based. In this paper, some variants or improvement of the two methods will be described. And a comparison about A* and RRT will be presented with appropriate criteria, which are path length and computational time. The main finding is that the A* method outperforms the Rapidly Exploring Random Tree (RRT) approach in terms of computational efficiency and path distance optimization. But it requires to consider more thoughts in applications. The comparison of the A* and RRT algorithms helps comprehend their applicability in various application circumstances. In this work, Evaluating these aspects altogether comprehensively provides a deeper understanding of the suitability of each algorithm for specific robotic navigation tasks.