Path Planning and Control

of a Rover
Mohd. Zaid Khan 
Siddharth Isasare
 R. Ajith
 Kumar Abhinav
CONTENTS
• INTRODUCTION
• METHODOLOGY
• ANALYSIS  
• SIMULATION
• CONCLUSION
• FUTURE WORK
INTRODUCTION
• Robotic path planning is an
appealing research study in
the field of robotics. 

• Path planning can be stated

as a sequence of valid
configurations that moves the
object from the source to
destination without colliding
with obstacles.
TYPES OF PATH  PLANNING
o On-Line Path Planning of Robots
Complete information about environment is not available in
advance and mobile robot gets information through sensors,
as it moves through the environment.
Example :- Mars Exploration Rover, Fully Autonomous Cars

o Off-line path planning of Robots

Complete information about environment and  stationary
obstacles  are known in advance.
Example :- Guided Vehicle in Factories, Agri-Bot
 METHODOLOGY
______________________________________

ENVIRONME PERCEPTION OFFLINE PATH MOTION

NT MAP PLANNING CONTROL
BUILDING
MAP BUILDING
 ALGORITHM

• Rapidly Exploring Random Tree (RRT) 

• Rapidly Exploring Random Tree-Star

(RRT*)
 
• A* algorithm
 Rapidly Exploring Random Tree
(RRT) 
• It generates random configuration in the map
grid. 

•  It selects nearest neighbour node.

•  It takes distance from nearest neighbour

node in direction of random configuration.

•  It creates new node and checks for obtaining

the target node.
• Cost Calculated by Algorithm :- 14 units
 Rapidly Exploring Random Tree-star (RRT*) 
__________________________________________________________________________________

Optimized version of RRT

Algorithm​

Converges towards optimal

solution​
Optimization is based on
Triangular inequality with pre-
defined  radius.​
Cost Calculated by Algorithm :- 10 units
Rapidly Exploring Random Tree-star (RRT*) 
 A-star algorithm (A*) 

Example :
• The Algorithm calculates the cost to all its immediate
neighboring nodes, n, and chooses the one incurring the
least cost.

• This process repeats until the destination is reached.

• In A* algorithm, it asks user to allocate target position,

obstacles and start position.

Cost Calculated by Algorithm :- 8 units

A-star algorithm (A*) 
SIMULATION
• Oracle Virtual-Box
• Ubuntu Operating System.
• Gazebo ROS2 FoxyFitzroy. 
• 3-Dimensional environment
consisting of multiple obstacles.
• A simple 4-wheel rover.
• Depiction of A* algorithm
Starting Position
Intermediate Position
Final Position
CONCLUSION
By comparing these algorithms :

• A* algorithm proves to be the best as it

provides the minimum cost.
• A* is more consistent as compared to RRT
family of algorithms.
• Generally, RRT algorithms are quite slow.

• RRT < RRT* < A*

 WHEN WE LIVE IN A 
DYNAMIC ENVIRONMENT, 
THEN 
WHY IS THERE A NEED TO CONSIDER
A
 STATIC ENVIRONMENT ???
 To Combat Covid-19

Industrial Warehouse

Agricultural field
FUTURE WORK
• Practical Implementation using Raspberry Pi and ROS.

• Implementation in Dynamic Environment.

• Use of AI ML as well