Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Potential Functions based Sampling Heuristic For Optimal Path Planning   Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of
Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free,
asymptotically optimal path regardless of obstacle's geometry in a given
environment. However, one of the limitations in the RRT* algorithm is slow
convergence to optimal path solution. As a result, it consumes high memory as
well as time due to a large number of iterations utilised in achieving optimal
path solution. To overcome these limitations, we propose the Potential Function
Based-RRT* (P-RRT*) that incorporates the Artificial Potential Field Algorithm
in RRT*. The proposed algorithm allows a considerable decrease in the number of
iterations and thus leads to more efficient memory utilization and an
accelerated convergence rate. In order to illustrate the usefulness of the
proposed algorithm in terms of space execution and convergence rate, this paper
presents rigorous simulation based comparisons between the proposed techniques
and RRT* under different environmental conditions. Moreover, both algorithms
are also tested and compared under non-holonomic differential constraints.

11
The categories of this paper are: hep-lat
27
The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
30
The categories of this paper are: q-alg
3
The categories of this paper are: physics
37
The categories of this paper are: supr-con
24
The categories of this paper are: dg-ga
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
9
The categories of this paper are: nlin
33
The categories of this paper are: plasm-ph
19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex