rrt abframeworkfor path planning of mobile robots8211

Project TitleProject Area of Specialization RoboticsProject Summary

Path planning for mobile robots is an important aspect of robotics. Path planning algorithms play a crucial role in a robot's movement and response to the environment. RRT (Rapidly Exploring Random Trees) is a sampling-based path planning algorithm. RRT*-AB is a recent addition to the family of sampling-based algorithms.

This project aims to investigate different features of this algorithm and to develop it's free to use open-source library framework using python/C++ with the support of the Artificial Intelligence, Robotics, and Computer Vision (AIRV) research group. The proposed library framework will be beneficial for the research community in order to implement different applications related to exploration and rescue.

Project Objectives

• To develop an open-source Python/C++ library framework for single Tree RRT*-AB planner for the research & development community.
• Deploy and test the algorithm on a car like small mobile robot.

Project Implementation Method

This section will provide information about the phases of the proposed project, i.e., in Phase-I,  Literature Review will be the first step, in Phase-II, analysis of the proposed project will be finalized, in the Phase-III, will do the implementation of state of art, in the Phase-IV, design, and implementation of the proposed approach will be done, in the Phase-V, will do simulation-based experiments and testing and in the Phase-VI, will publish library. Intel robotic benchmark dataset will be used in the testing phase.

Software deployment will be the major phase of the project. The proposed algorithm will be tested in an environment with obstacles of different shapes and sizes.

Benefits of the Project

Beneficiaries of this library will be the research community, scholars, and office assistant robot application.

can be extended to applied domains like indoor service robots or medical robots.

Technical Details of Final Deliverable

• An open-source library tool/framework for path planning of mobile robots by using the RRT*-AB approach.
• A car like robot capable of collision-free autonomous movement using sampling based but single tree RRT*-AB planner algorithm.

Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther Industries Education , Others , Security Core Technology RoboticsOther Technologies Artificial Intelligence(AI)Sustainable Development Goals Industry, Innovation and Infrastructure, Partnerships to achieve the GoalRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	60000
codebot small robot	Equipment	1	55000	55000
Adapter	Equipment	2	500	1000
12v Battery	Equipment	1	1500	1500
Sensors	Equipment	1	1500	1500
assembly items	Miscellaneous	1	1000	1000