Investigation of RRT*-AB Approach for Bi-Directional Structures
Path planning for mobile robots is an important aspect of robotics. Path planning algorithms play a crucial role in a robot's t's movement and response to the environment. RRT*-AB (Rapidly Exploring Random Trees-Adjustable Bounds) is a sampling-based path planning approach published. This project ai
2025-06-28 16:33:22 - Adil Khan
Investigation of RRT*-AB Approach for Bi-Directional Structures
Project Area of Specialization RoboticsProject SummaryPath planning for mobile robots is an important aspect of robotics. Path planning algorithms play a crucial role in a robot's t's movement and response to the environment. RRT*-AB (Rapidly Exploring Random Trees-Adjustable Bounds) 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 structure and deploy and test path planning n algorithm on the small mobile robot for environment mapping and collision-free movement in the environment.
This Research and Development (R&D) project will propose a new algorithm based on some initial findings of the 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.
Project ObjectivesTo develop an open-source library with listed functionalities:
- Investigation of Rapidly-Exploring Random Tree Star Adjustable Bound (RRT*-AB) algorithm.
- Extending RRT*-AB algorithm with the bi-directional approach.
- Proposing a new algorithm for Path Planning of Mobile Robots.
- Developing an open-source Python/C++ library framework for the new proposed algorithm.
- Deploy and test the algorithm on a car like small mobile robot.
Literature Review will be the first step towards completion. Then it will be followed by analysis, implementation of state of art, design, and implementation of the proposed approach, simulation-based experiments and testing, and at the end Final publishing of library. The benchmark is to compare the new proposed algorithm with RRT*-AB and the Intel robotic dataset.
Software deployment will be the second major phase of the project. The proposed algorithm will be tested in an environment with obstacles of different shapes and sizes.
Benefits of the ProjectBeneficiaries of this library will be the research community, scholars, and the robotic application software industry. The proposed prototype will be helpful in real-time applications in security and surveillance applications, office assistant robot application.
Technical Details of Final DeliverableA working car like a small robot to explore the environment with collision-free planned movements.
An open-source library framework for path planning of mobile robots by using an extended bi-directional RRT*-AB approach integrated with hardware and software.
Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther Industries Education , Others , Security Core Technology RoboticsOther Technologies Artificial Intelligence(AI)Sustainable Development Goals Industry, Innovation and Infrastructure, Partnerships to achieve the GoalRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 60000 | |||
| codebot small robot | Equipment | 1 | 55000 | 55000 |
| Adapter | Equipment | 2 | 500 | 1000 |
| 12v Battery | Equipment | 1 | 1500 | 1500 |
| assembly items | Miscellaneous | 1 | 1000 | 1000 |
| Sesnors | Equipment | 1 | 1500 | 1500 |