Aria, Muhammad Path Planning Algorithm Using Informed Rapidly Exploring Random Tree*-Connect with Local Search. Journal of Engineering Science and Technology.
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Abstract
The objective of this study is to propose a path planning algorithm using the Informed RRT*-Connect algorithm and a RRT*-based local search algorithm. The Informed RRT*-Connect algorithm is a two-way version of RRT* where sampling is limited to the area that is predicted to provide a better solution. The proposed local search algorithm uses the idea of an informed RRT* where the sampling process is carried out at a certain distance from the best path obtained from the previous path planning algorithm. The performance of the proposed algorithm with the RRT*, Informed RRT*, and RRT*-Connect algorithms using several benchmark cases, namely clutter, trapping, and narrow, respectively, were compared. The test results showed that the use of the Informed RRT*-Connect algorithm with a local search algorithm can increase the convergence rate and final solution quality compared to other algorithms. The Informed RRT*-Connect algorithm can have a high convergence speed because it uses two search trees and performs searches only in a limited area. The local search algorithm can improve the quality of the final solution because it performs exploitation searches along the previous final path. So, the Informed RRT*-Connect algorithm with a local search algorithm has the potential to be used in systems that require fast and optimal path planning algorithms, such as robots and autonomous vehicles.
| Item Type: | Article |
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| Subjects: | Makalah |
| Depositing User: | Dr. Muhammad Aria Rajasa Pohan |
| Date Deposited: | 02 Sep 2026 09:57 |
| Last Modified: | 02 Sep 2026 09:57 |
| URI: | http://repository.unikom.ac.id/id/eprint/71059 |
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