| Majid Abbasov, Kira Dmitrieva Application of the RRT* and RRT-connect algorithms for finding the optimal trajectory in the sense of construction cost |
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| Abstract. The essence of the research work is to consider the practical solution of the variational problem using iterative approach methods such as RRT* and RRT-connect. Originally, these algorithms were proposed to find the shortest trajectory connecting two given points on the terrain. In contrast with that the modifications presented in the present work allow us to search the trajectory, which is optimal in the sense of construction cost. This cost is defined as integral functional. The algorithms work based on randomly constructed graph-trees to construct a piecewise linear approximation of the solution. Though a specific problem is considered, the resulting solution approach opens access to solving a large class of problems. By applying these algorithms in infrastructure development, civil engineering, and related fields, engineers and planners will be able to achieve a more streamlined process for creating road networks that minimize construction costs and address the unique challenges posed by different terrains. |
| Keywords: optimal path, graph tree, fast growing graph trees |
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| DOI: https://doi.org/10.54381/itta2024.02 |