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Table 1. Distance coverage and duration from point to point

Distance Time start Time finish Duration
(m) Move-base RRT Move-base RRT Move-base RRT
Origin to Point 1 13.3 1 m 44 sec 0.00 2 m 50 sec 56 sec 1 m 6 sec 56 sec

Point 1 to Point 2 4.5 2 m 51 sec 56 sec 3 m 40 sec 1 min 27 sec 49 sec 30 sec
Point 2 to Point 3 7.9 3 m 41 sec 1 min 28 sec 4 m 20 sec 4 min 22 sec 39 sec 2 min 54 sec
Point 3 to Point 4 5.0 4 m 21 sec 4 min 23 sec 5 m 6 min 57 sec 39 sec 2 min 34 sec
Point 4 to Point 5 10.3 5 m 01 sec 6 min 58 sec 5 m 42 sec 8 min 6 sec 41 sec 2 min 8 sec
Point 5 to Point 6 7.2 5 m 43 sec 8 min 7 sec 6 min 16 sec 8 min 30 sec 33 sec 23 ec

4. Conclusion

This project highlights the capability of a path planning algorithm to navigate in a duct environment
successfully. The proposed algorithm is evaluated based on a duct environment using the Rviz simulator.
Further improvement on the distance and duration using other algorithms is planned.

Acknowledgments

The authors want to acknowledge the Ministry of Higher Education Malaysia and University Kebangsaan
Malaysia for funding and supporting this project using grant code FRGS/1/2020/ICT02/UKM/02/7.

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