Author ORCID Identifier
Year of Publication
Master of Science in Mechanical Engineering (MSME)
Dr. Hasan Poonawala
This thesis presents a new parallelized real-time path planning process. This process is an extension of the Real-Time Rapidly Exploring Random Trees* (RT-RRT*) algorithm developed by Naderi et al in 2015 . The RT-RRT* algorithm was demonstrated on a simulated two-dimensional dynamic environment while finding paths to a varying target state. We demonstrate that the original algorithm is incapable of running at a sufficient rate for control of a 7-degree-of-freedom (7-DoF) robotic arm while maintaining a path planning tree in 7 dimensions. This limitation is due to the complexity of maintaining a tree in a high-dimensional space and the network frequency requirements of the control signal for a real robotic system.
We develop and implement a parallelized version of RT-RRT*, dubbed Parallel RT-RRT* (PRT-RRT*), that can update motion plans in a dynamic environment while sending control signals at a high frequency. To achieve this, PRT-RRT* establishes a method of efficient communication between separate collision detection, path planning, and control nodes. We show that PRT-RRT* is capable of solving the dynamic path-planning problem on the 7D Franka Emika Panda robotic arm.
Digital Object Identifier (DOI)
This study was supported by the University of Kentucky Department of Mechanical Engineering
Yackzan, David, "Parallel Real Time RRT*: An RRT* Based Path Planning Process" (2023). Theses and Dissertations--Mechanical Engineering. 211.