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Authors: João Braun 1 ; Thadeu Brito 2 ; José Lima 3 ; Paulo Costa 4 ; Pedro Costa 4 and Alberto Nakano 1

Affiliations: 1 Federal University of Technology - Paraná, Toledo and Brazil ; 2 CeDRI - Research Centre in Digitalization and Intelligent Robotics and Portugal ; 3 INESC TEC - INESC Technology and Science, Faculty of Engineering of University of Porto, Portugal, CeDRI - Research Centre in Digitalization and Intelligent Robotics, Polytechnic Institute of Bragança and Portugal ; 4 INESC TEC - INESC Technology and Science, Faculty of Engineering of University of Porto and Portugal

Keyword(s): Mobile Robotics, Path Planning, A-Star, RRT-Star, Dynamics Simulation.

Related Ontology Subjects/Areas/Topics: Case Studies ; Formal Methods ; Health Engineering and Technology Applications ; Mathematical Simulation ; Neural Rehabilitation ; Neurotechnology, Electronics and Informatics ; Performance Analysis ; Simulation and Modeling ; Simulation Tools and Platforms

Abstract: There is an increasing number of mobile robot applications. The demanding of the Industry 4.0 pushes the robotic areas in the direction of the decision. The autonomous robots should actually decide the path according to the dynamic environment. In some cases, time requirements must also be attended and require fast path planning methods. This paper addresses a comparison between well-known path planning methods using a realistic simulator that handles the dynamic properties of robot models including sensors. The methodology is implemented in SimTwo that allows to compare the A* and RRT* algorithms in different scenarios with dynamic and real time constraint scenarios.

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Paper citation in several formats:
Braun, J.; Brito, T.; Lima, J.; Costa, P.; Costa, P. and Nakano, A. (2019). A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots. In Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH; ISBN 978-989-758-381-0; ISSN 2184-2841, SciTePress, pages 398-405. DOI: 10.5220/0008118803980405

@conference{simultech19,
author={João Braun. and Thadeu Brito. and José Lima. and Paulo Costa. and Pedro Costa. and Alberto Nakano.},
title={A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots},
booktitle={Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH},
year={2019},
pages={398-405},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008118803980405},
isbn={978-989-758-381-0},
issn={2184-2841},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH
TI - A Comparison of A* and RRT* Algorithms with Dynamic and Real Time Constraint Scenarios for Mobile Robots
SN - 978-989-758-381-0
IS - 2184-2841
AU - Braun, J.
AU - Brito, T.
AU - Lima, J.
AU - Costa, P.
AU - Costa, P.
AU - Nakano, A.
PY - 2019
SP - 398
EP - 405
DO - 10.5220/0008118803980405
PB - SciTePress

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