Path Planning Based on heuristic Rapidly-Exploring Random Tree for Nonholonomic Mobile Robot

被引：2
|
作者：
Kang Liang [1 ]
Mao Lian-cheng [1 ]
机构：
[1] Sch Elect & Elect Engn, Shanghai, Peoples R China
来源：
CURRENT DEVELOPMENT OF MECHANICAL ENGINEERING AND ENERGY, PTS 1 AND 2 | 2014年 / 494-495卷
关键词：
mobile robot; path planning; Rapidly-Exploring Random;
D O I：
10.4028/www.scientific.net/AMM.494-495.1161
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The RRT algorithm and the heuristic function are combined in the mobile robot path planning, so a novel path planning is proposed. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the heuristic Rapidly-Exploring Random Tree for nonholonomic mobile robot path planning is feasible and effective.
引用
收藏
页码：1161 / 1164
页数：4
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