Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning

Zainul Abidin; Muhram Muis; Waru Djuriatno

doi:10.1109/ICAMIMIA47173.2019.9223369

Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning

Faculty of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

Robot built with omni-directional wheels (omni-wheeled robot) is required to perform free movement. In some applications, the omni-wheeled robot is expected to avoid obstacle without shifting or breaking it down. Therefore, Rapidly-exploring Random Tree (RRT) algorithm is important to be implemented to the omni-wheeled robot for path planning. Experiment conditions were devided by same and different points (starting and destination). For each experimental condition, obstacle shift less than 5 cm occurred in 1 of 5 experiments. Therefore, the RRT algorithm is useful for generating paths from the starting point to the destination point with avoiding obstacle.

Original language	English
Title of host publication	2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	288-292
Number of pages	5
ISBN (Electronic)	9781728130903
DOIs	https://doi.org/10.1109/ICAMIMIA47173.2019.9223369
Publication status	Published - Oct 2019
Event	2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Batu-Malang, Indonesia Duration: 9 Oct 2019 → 10 Oct 2019

Publication series

Name	2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding

Conference

Conference	2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019
Country/Territory	Indonesia
City	Batu-Malang
Period	9/10/19 → 10/10/19

Keywords

obstacle
Omni-wheeled robot
path planning
Rapidly-exploring Random Tree (RRT)

Access to Document

10.1109/ICAMIMIA47173.2019.9223369

Cite this

Abidin, Z., Muis, M., & Djuriatno, W. (2019). Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning. In 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding (pp. 288-292). Article 9223369 (2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAMIMIA47173.2019.9223369

Abidin, Zainul ; Muis, Muhram ; Djuriatno, Waru. / Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning. 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 288-292 (2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding).

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title = "Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning",

abstract = "Robot built with omni-directional wheels (omni-wheeled robot) is required to perform free movement. In some applications, the omni-wheeled robot is expected to avoid obstacle without shifting or breaking it down. Therefore, Rapidly-exploring Random Tree (RRT) algorithm is important to be implemented to the omni-wheeled robot for path planning. Experiment conditions were devided by same and different points (starting and destination). For each experimental condition, obstacle shift less than 5 cm occurred in 1 of 5 experiments. Therefore, the RRT algorithm is useful for generating paths from the starting point to the destination point with avoiding obstacle.",

keywords = "obstacle, Omni-wheeled robot, path planning, Rapidly-exploring Random Tree (RRT)",

author = "Zainul Abidin and Muhram Muis and Waru Djuriatno",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 ; Conference date: 09-10-2019 Through 10-10-2019",

year = "2019",

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language = "English",

series = "2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding",

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Abidin, Z, Muis, M & Djuriatno, W 2019, Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning. in 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding., 9223369, 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding, Institute of Electrical and Electronics Engineers Inc., pp. 288-292, 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019, Batu-Malang, Indonesia, 9/10/19. https://doi.org/10.1109/ICAMIMIA47173.2019.9223369

Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning. / Abidin, Zainul; Muis, Muhram; Djuriatno, Waru.
2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2019. p. 288-292 9223369 (2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Abidin, Zainul

AU - Muis, Muhram

AU - Djuriatno, Waru

PY - 2019/10

Y1 - 2019/10

N2 - Robot built with omni-directional wheels (omni-wheeled robot) is required to perform free movement. In some applications, the omni-wheeled robot is expected to avoid obstacle without shifting or breaking it down. Therefore, Rapidly-exploring Random Tree (RRT) algorithm is important to be implemented to the omni-wheeled robot for path planning. Experiment conditions were devided by same and different points (starting and destination). For each experimental condition, obstacle shift less than 5 cm occurred in 1 of 5 experiments. Therefore, the RRT algorithm is useful for generating paths from the starting point to the destination point with avoiding obstacle.

AB - Robot built with omni-directional wheels (omni-wheeled robot) is required to perform free movement. In some applications, the omni-wheeled robot is expected to avoid obstacle without shifting or breaking it down. Therefore, Rapidly-exploring Random Tree (RRT) algorithm is important to be implemented to the omni-wheeled robot for path planning. Experiment conditions were devided by same and different points (starting and destination). For each experimental condition, obstacle shift less than 5 cm occurred in 1 of 5 experiments. Therefore, the RRT algorithm is useful for generating paths from the starting point to the destination point with avoiding obstacle.

KW - obstacle

KW - Omni-wheeled robot

KW - path planning

KW - Rapidly-exploring Random Tree (RRT)

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M3 - Conference contribution

AN - SCOPUS:85095804525

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BT - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 9 October 2019 through 10 October 2019

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Abidin Z, Muis M, Djuriatno W. Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning. In 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding. Institute of Electrical and Electronics Engineers Inc. 2019. p. 288-292. 9223369. (2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding). doi: 10.1109/ICAMIMIA47173.2019.9223369

Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning

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Keywords

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