%0 Journal Article
%4 sid.inpe.br/mtc-m21c/2019/05.16.10.49
%2 sid.inpe.br/mtc-m21c/2019/05.16.10.49.52
%@doi 10.1109/ACCESS.2019.2908100
%@issn 2169-3536
%T Systematic literature review of sampling process in rapidly-exploring random trees
%D 2019
%9 journal article
%A Véras, Luiz Gustavo Diniz de Oliveira,
%A Medeiros, Felipe L. L.,
%A Guimarães, Lamartine N. F.,
%@affiliation Instituto Nacional de Pesquisas Espaciais (INPE)
%@affiliation Instituto de Estudos Avançados (IEAv)
%@affiliation Instituto de Estudos Avançados (IEAv)
%@electronicmailaddress gustavo_veras@ifsp.edu.br
%B IEEE Access
%V 7
%P 50933-50953
%K Non-uniform sampling, informed sampling, path planning, RRT, systematic literature review.
%X Path planning is one of the most important process on applications such as navigating autonomous vehicles, computer graphics, game development, robotics, and protein folding. It ensures that a path is planned between an initial and final position on the collision-free region of a search space if one exists. One of the most wide algorithms used for this purpose is the rapidly-exploring random tree (RRT), in which each node of a tree data structure is generated from a search space by a random sampling process, which originally follows a uniform spatial distribution. However, some authors claim that the addition of a non-uniform/ informed approach into the sampling process of the RRT could accelerate the planning time of the algorithm. Actually, many works on literature propose different strategies to include non-uniform/ informed behavior on RRT-based algorithms. However, the large number of studies on path planning subject impose difficulties on the identification of new solutions on a review process. The aim of this paper is to structure a review process to deal with the massive volume of works on this subject, by presenting the planning, development, and results of a systematic literature review (SLR), to investigate non-uniform/ informed sampling solutions applied to RRT-based algorithms on path planning literature. A review protocol with two scientific questions was developed to guide the investigation. As a result, 1136 studies were selected in the path planning literature, of which 53 were identified as claiming to contain a solution with non-uniform/ informed sampling on RRT-based algorithms. As a specific work is considered a scientific contribution only when it has not yet been explored in scientific circles, the results of the SLR can be used as a tool to search for what has not yet been proposed, helping to identify opportunities to contribute with new sampling processes of RRT-based algorithms. To the best knowledge of the authors, this paper presents the first development of an SLR of a topic related to the RRT algorithm.
%@language en
%3 08675925.pdf