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Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method(PDF)

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

Issue:
2007年02期
Page:
58-61
Research Field:
Publishing date:

Info

Title:
Rapid-Exploring Random Tree Algorithm for Path Planning of Robot Based on Grid Method
Author(s):
Guo Haitao; Zhu Qingbao; Xu Shoujiang
School of Mathematics and Computer Science,Nanjing Normal University,Nanjing 210097,China
Keywords:
robot;  path planning;  rap idly-explo ring random tree;  gr id m ethod
PACS:
TP242
DOI:
-
Abstract:
A new rapid-explor ing random tree a lgo rithm for path plann ing of robo t based on gr id me thod is proposed to p lan an optim al path formob ile robo t in com plex env ironment. The algorithm exp lo res the space and add a new node to a random tree in w hich tha t roo t node is the position o f robo t until the leaf node o f the tree conta ins the goa l node. The path com posed from the edges o f the in itia l node to the goa l node is w he re the robot wa lk by. It is tested that the pro posed algor ithm is m ore effec tive than GA and A* under the sam e env ironm ent. The sim ulation results illustra te tha t the proposed algor ithm can be used to so lv e the path p lann ing fo rm ob ile robo t even in the random com plex env iron- m en t the robot can avo id the obstac les sa fely by the path ga ined by the new algor ithm.

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Last Update: 2013-04-29