Optimal Spline-based RRT Path Planning Using Probabilistic Map

被引：0
|
作者：
Yang, Kwangjin [1 ]
Gan, Seng Keat [2 ]
Huh, Jinwook [3 ]
Joo, Sanghyun [3 ]
机构：
[1] Korea Air Force Acad, Dept Mech Engn, Chungbuk 363849, South Korea
[2] Univ Sydney, Australian Ctr Field Robot, Sydney, NSW 2006, Australia
[3] Agcy Def Dev, Daejeon 305600, South Korea
来源：
2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) | 2014年
关键词：
Rapidly-exploring Random Tree; Optimal Path; Differential Constraints; Probabilistic Map;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an optimal path planning algorithm that adopts the rapidly-exploring random tree(RRT) as a path planner. The RRT generates a valid path quickly, but it does not have the ability to control the quality of the path. In this paper, the nonholonomic path planning and the optimal path planning are tackled simultaneously within the RRT framework. The spline-based RRT algorithm generates a feasible path satisfying the differential constraints, and the RRT* strategy is incorporated to guarantee the optimal solution. In addition, the probabilistic map combining 3D Lidar and visual camera is used as a map for the path planning. Simulation results show that the proposed spline-based RRT* outputs a dynamically feasible optimal path.
引用
收藏
页码：643 / 646
页数：4
相关论文
共 50 条
  • [21] Spline-Based Motion Planning for Automated Driving
    Goette, Christian
    Keller, Martin
    Nattermann, Till
    Hass, Carsten
    Glander, Karl-Heinz
    Bertram, Torsten
    [J]. IFAC PAPERSONLINE, 2017, 50 (01): : 9114 - 9119
  • [22] Optimal Path Planning Based on Spline-RRT* for Fixed-Wing UAVs Operating in Three-Dimensional Environments
    Lee, Dasol
    Song, HanJun
    Shim, David Hyunchul
    [J]. 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), 2014, : 835 - 839
  • [23] Spline-Based Dynamic Object Handling in Autonomous Vehicles: A Model-Based Path Planning Algorithm
    Stefanopoulou, Aliki
    Gkelios, Socratis
    Kapoutsis, Athanasios Ch.
    Kosmatopoulos, Elias B.
    Boutalis, Yiannis S.
    [J]. 2023 31ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, MED, 2023, : 348 - 355
  • [24] Spline-based automatic path generation of welding robot
    牛雪娟
    李亮玉
    [J]. China Welding, 2007, (04) : 27 - 31
  • [25] Optimal Trajectory Planning Based On Bidirectional Spline-RRT* For Wheeled Mobile Robot
    Sudhakara, Priyanka
    Ganapathy, Velappa
    Sundaran, Karthika
    [J]. 2017 IEEE 3RD INTERNATIONAL CONFERENCE ON SENSING, SIGNAL PROCESSING AND SECURITY (ICSSS), 2017, : 65 - 68
  • [26] Path Planning for Improved Visibility Using a Probabilistic Road Map
    Baumann, Matthew
    Leonard, Simon
    Croft, Elizabeth A.
    Little, James J.
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (01) : 195 - 200
  • [27] Optimal design of spline-based feedforward for trajectory tracking
    De Caigny, Jan
    Demeulenaere, Brain
    Swevers, Jan
    De Schutter, Joris
    [J]. 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 3232 - 3237
  • [28] Spline-Based Optimal Trajectory Generation for Autonomous Excavator
    Zhao, Jiangying
    Hu, Yongbiao
    Liu, Chengshuo
    Tian, Mingrui
    Xia, Xiaohua
    [J]. MACHINES, 2022, 10 (07)
  • [29] S-BRRT*: A Spline-based Bidirectional RRT* with Strategies under Nonholonomic Constraint
    Zhang, Yubo
    Gong, Daoxiong
    [J]. PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 1753 - 1758
  • [30] A probabilistic swarming path planning algorithm using optimal transport
    Lee D.
    Shim D.H.
    [J]. Journal of Institute of Control, Robotics and Systems, 2018, 24 (09) : 890 - 895
12345