用于轨迹规划的光滑RRT技术

2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy) Pub Date : 2017-12-01 DOI:10.1109/TAPENERGY.2017.8397376

K. Jayasree, P. Jayasree, A. Vivek

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引用次数: 12

摘要

采用平滑快速探索随机树(RRT)和平滑双向随机树(RRT)技术，研究了类车移动机器人避开动态障碍物跟踪运动目标的轨迹规划问题。案例研究在动态和静态环境中完成。考虑了移动机器人的运动学模型。系统的模型和路径规划算法包括所有的案例研究已经模拟了两种RRT技术。在MATLAB中对两种方法进行了性能比较，得到了需要的结果。

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Smoothed RRT techniques for trajectory planning

Trajectory planning of a car-like mobile robot tracking a moving target by avoiding dynamic obstacles is developed using Smoothed Rapidly exploring Random Tree (RRT) and Smoothed Bidirectional RRT techniques. Case studies are done in dynamic and static environments. Kinematic model is considered for the mobile robot. The model of the system and the path planning algorithm including all case studies has been simulated for both RRT techniques. The performance comparison of both methods are done and the required results are obtained in MATLAB.

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来源期刊

2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy)

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