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All Journal Jurnal Buana Informatika
Anugrah K Pamosoaji
Program Studi Teknik Industri, Fakultas Teknologi Industri, Universitas Atma Jaya Yogyakarta
Computer Science & IT

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Two-Sided RRT* Planner Considering Inter-Node Maximum Length Connection on Adversarial Workspaces for AGV Anugrah K Pamosoaji
Jurnal Buana Informatika Vol. 16 No. 2 (2025): Jurnal Buana Informatika, Volume 16, Nomor 02, Oktober 2025
Publisher : Universitas Atma Jaya Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24002/jbi.v16i2.12104

Abstract

This paper presents a two-sided Rapidly-Explored Random Tree (RRT*) which is a variant of RRT* path planning algorithm that utilizes a start and a target node as the bases for generating paths. The advantage of this method is in the capability to make a connection between start and target nodes under adversarial workspace. In this type of workspaces, the main problem in RRT* is the success rate of constructing a complete and optimized route and reducing path-generation processing time. The proposed algorithm is purposed to increase the route generation success rate and reduce the processing time. The technique consists of two-fold: the application of maximum length of inter-node path and two-sided node generation, i.e., from the start and target nodes. Simulation results conclude that the application of large maximum length of inter-node path can increase the success rate of complete route construction.
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