A new approach for mobile robot path planning based on RRT algorithm

被引：6
|
作者：
Nguyen, Thanh-Hung [1 ]
Nguyen, Xuan-Thuan [1 ]
Pham, Duc-An [1 ]
Tran, Ba-Long [1 ]
Bui, Dinh-Ba [1 ]
机构：
[1] Hanoi Univ Sci & Technol, Sch Mech Engn, Hanoi, Vietnam
来源：
MODERN PHYSICS LETTERS B | 2023年 / 37卷 / 18期
关键词：
Mobile robot; path planning; RRT; pseudorandom number generator;
D O I：
10.1142/S0217984923400274
中图分类号：
O59 [应用物理学];
学科分类号：
摘要：
A novel route planning method based on the RRT algorithm is proposed in this study. To enhance the structure of the state tree, a general-purpose pseudorandom number generator is inserted into RRT. In addition, the proposed method includes a distance restriction that helps reduce the number of possible candidate nodes. MATLAB has been utilized to examine the efficacy of the proposed technique using three different types of maps. The simulation results demonstrate that the revised method is advantageous for route planning due to its superior convergence and efficacy over the original.
引用
收藏
页数：5
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