基于rrt的局部路径规划算法在未知环境中的应用

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382896

Yu Tian, Lei Yan, Gun-Young Park, S. Yang, Young-Suk Kim, Sang-Ryong Lee, Choon-Young Lee

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引用次数: 14

摘要

在过去的二十年中，移动机器人的路径规划受到了广泛的关注。基本快速探索随机树(RRT)算法因其在大环境下对自由空间的探索能力和并行性而在该领域享有盛名。本文将改进的RRT算法应用于未知环境下移动机器人的局部导航。利用RRT算法的偏方向来减少节点，从而减少实时计算的计算量。通过仿真和简单的实时实验验证了该方法在真实未知环境中的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Application of RRT-based local Path Planning Algorithm in Unknown Environment

Path planning for mobile robots has received a great deal of attention over the past two decades. The basic rapidly-exploring random tree (RRT) algorithm is famous in this field because it excels at exploring free space in the large environments and it is parallelizable. In this paper, we applied modified RRT algorithm to local navigation of a mobile robot in unknown environment. The biased direction from RRT algorithm is used to reduce the nodes and therefore the amount of calculation is decreased for real-time computation. We conducted the simulation and simple real-time experiments to verify the proposed method in real unknown environment.

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来源期刊

2007 International Symposium on Computational Intelligence in Robotics and Automation

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