Mobile Robot Path Planning Based on an Improved Rapidly-exploring Random Tree in Unknown Environment

被引：7
|
作者：
Liu Chang-an [1 ]
Chang Jin-gang [1 ]
Li Guo-dong [1 ]
Liu Chun-yang [1 ]
机构：
[1] N China Elect Power Univ, Sch Comp Sci & Technol, Beijing 102206, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2008年
关键词：
Mobile Robot; Path Planning; Rapidly-exploring Random Tree; Biased Direction;
D O I：
10.1109/ICAL.2008.4636565
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To deal with the path planning of mobile robot in unknown environment, an improved rapidly-exploring random tree (RRT) is presented by analyzing basic RRT algorithm. We applied improved RRT algorithm to local navigation of a mobile robot in unknown environment. Detecting local unknown environments by robot sensor system, the method orients a biased direction from RRT algorithm is used to drive the robot to avoid obstacles and move to the goal. The method is not only simple and flexible, but also reduces the nodes of tree and the amount of calculation for real-time computation. We conducted the simulation to verify the proposed method in real unknown environment.
引用
收藏
页码：2375 / 2379
页数：5
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