|Table of Contents|

Rolling Path Planning of Robot Based on Rapidly Exploring Random Tree in an Unknown Environment(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2009年02期
Page:
79-83
Research Field:
Publishing date:

Info

Title:
Rolling Path Planning of Robot Based on Rapidly Exploring Random Tree in an Unknown Environment
Author(s):
Cai Wenbin; Zhu Qingbao
School of Computer Sciences,Nanjing Normal University,Nanjing 210097,China
Keywords:
mob ile robot;  rolling p lan;  rapid ly exp lor ing random tree;  unknown env ironm ent
PACS:
TP242
DOI:
-
Abstract:
In a com plex unknown env ironm ent, m ob ile robo t doesn t’ ow n g loba l in fo rm ation so that it can on ly make a p lan abou t the loca l path w hich falls into its detec tab le a rea. In a llusion to the feature, a new rap idly explo ring random tree algor ithm for pa th planning is pu t forwa rd to plan an optima l path for mob ile robo t, wh ich is based on rolling w indow. A ccording to the algor ithm, the start-po int of them obile robot is regarded to be the root node. Besides, fu ll use is m ade o f loca l env ironm en tal inform ation detected by the robot to expand the space in a ro lling on- line sty le and add a new node to a random tree until the leaf node o f the tree conta ins the ta rget node. The edg es of the random tree composed o f the route from the in itia l node to the target node a re just the pa th where the robot w alks by. The sim ulation results illustrate that the proposed algorithm can be used to so lve the path plann ing for mob ile robot even in the com plex unknown environm ent, and the successful obstac le avo idance is a lso ach ieved.

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Last Update: 2013-04-23