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arXiv · 2310.20590

An Enhanced RRT based Algorithm for Dynamic Path Planning and Energy Management of a Mobile Robot

Ronit Chitre·Arpita Sinha
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Abstract

Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current position to its recharging station. The robot decides if a recharge is needed based on the energy required to travel on that path and the robot's current power. RRT* is used to generate the first path, and then subsequent paths are made using information from previous trees. Finally, the presented algorithm was compared with Extended Rate Random Tree (ERRT) algorithm

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Ronit Chitre, Arpita Sinha. 2023-10-31. An Enhanced RRT based Algorithm for Dynamic Path Planning and Energy Management of a Mobile Robot. https://arxiv.org/abs/2310.20590

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