Roudabe Seif

Work place: Qazvin Islamic Azad University, Qazvin, Iran



Research Interests: Planning and Scheduling, Artificial Intelligence, Computer systems and computational processes


Roudabe Seif is a lecturer at Islamic Azad University of Parand branch. She received her MSc in Mechatronic engineering from Qazvin Islamic Azad University of Qazvin in 2013. Her research interests include artificial intelligence and path planning.

Author Articles
Mobile Robot Path Planning by RRT* in Dynamic Environments

By Roudabe Seif Mohammadreza Asghari Oskoei

DOI:, Pub. Date: 8 Apr. 2015

Robot navigation is challenging for mobile robots technology in environments with maps. Since finding an optimal path for the agent is complicated and time consuming, path planning in robot navigation is an axial issue. The objective of this paper is to find a reasonable relation between parameters used in the path planning algorithm in a platform which a robot will be able to move from the start point in a dynamic environment with map and plan an optimal path to specified goal without any collision with moving and static obstacles. For this purpose, an asymptotically optimal version of Rapidly-exploring Random Tree RRT algorithm, named RRT* is used. The algorithm is based on an incremental sampling which covers the whole space and acts fast. Moreover this algorithm is computationally efficient, therefore it can be used in multidimensional environments. The obtained results indicate that a feasible path for mobile holomonic robot may be found in a short time by using this algorithm. Also different standard distances measurements like (Chebyshev, Euclidean, and City Block) are examined, and coordinated with sampling node number in order to reach the suitable result based on environment circumstances.

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