1. Rapidly exploring random trees used for mobile robots path planning
- Creator:
- Krejsa, Jiří and Věchet, Stanislav
- Format:
- bez média and svazek
- Type:
- model:article and TEXT
- Subject:
- path planning, mobile robots, rapidly exploring random trees, and navigation
- Language:
- English
- Description:
- Path planning problem in mobile robotics can be solved in several ways. Often used are probabilistic roadmaps and potential field algorithm. However, adding nonholonomic constraints into part planning algorithm can be difficult for those methods. Therefore the rapidly exploring random trees (RRT) algorithm was examined and paper illustrates its usability in path planning task for both legged (walking) and wheeled mobile robots. The method proved to be capable of coping with limiting constraints and at the same time it is very fast, enabling its use in real time path recalculation when used with localization algorithm. and Obsahuje seznam literatury
- Rights:
- http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public