Adapted-RRT: novel hybrid method to solve three-dimensional path planning problem using sampling and metaheuristic-based algorithms

Mohammed Ahmed Shah

Three-dimensional path planning for autonomous robots is a prevalent problem in mobile robotics. This paper presents three novel versions of a hybrid method designed to assist in planning such paths for these robots. In this paper, an improvement on Rapidly exploring Random Tree (RRT) algorithm, namely Adapted-RRT, is presented that uses three well-known metaheuristic algorithms, namely Grey Wolf Optimization (GWO), Incremental Grey Wolf Optimization (I-GWO), and Expanded Grey Wolf Optimization (Ex-GWO)). RRT variants, using these algorithms, are named Adapted-RRTGWO, Adapted-RRTI-GWO, and Ada ...Daha fazlası