Malik, Adam and Poham, Muhammad Aria Rajasa The Development of a Path Planning Algorithm Combining the Rapidly-Exploring Random Tree Algorithm and the Particle Swarm Optimization Algorithm. Journal of Engineering Science and Technology. ISSN 1823-4690
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Abstract
This study proposes a path-planning algorithm that combines the Rapidly exploring Random Tree (RRT) and Particle Swarm Optimization (PSO) algorithms. This research aims to achieve near-optimal values with fast convergence using the proposed algorithm. The RRT algorithm can generate a faster path, but it is not optimal. The RRT algorithm is hybridized with the PSO algorithm to improve its performance and produce a near-optimal path. Each iteration of the combination process involves spinning a roulette wheel. The outcome of the spinning roulette wheel determines whether the following sampling process is carried out randomly, around the local best path, or around the global best path. Consequently, as the quality of a path increases, the probability of sampling along that path also increases. The PSO-RRT algorithm is the name given to the proposed algorithm. The PSO-RRT algorithm is tested and compared to the RRT* and informed RRT* algorithms. The test is based on simulation and employs various benchmarks such as clutter, multiple-narrow, square field, and tough passage environments. The results of this test, discussed in the result and discussion section, show that the proposed algorithm outperforms the RRT* and the informed RRT*.
| Item Type: | Article |
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| Subjects: | Makalah |
| Divisions: | Universitas Komputer Indonesia > Fakultas Teknik dan Ilmu Komputer > Teknik Elektro (S1) |
| Depositing User: | Dr. Muhammad Aria Rajasa Pohan |
| Date Deposited: | 02 Sep 2026 09:56 |
| Last Modified: | 02 Sep 2026 09:56 |
| URI: | http://repository.unikom.ac.id/id/eprint/71049 |
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