An RRT-Based Path Planning Strategy in a Dynamic Environment

被引：8
作者：
Li, Yijing [1 ]
机构：
[1] Zhongshan Technician Coll, Dept Elect Applicat, Zhongshan City, Peoples R China
来源：
2021 7TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA 2021) | 2021年
关键词：
RRT algorithm; non-holonomic robot; real-time path planning; moving obstacle avoidance; NAVIGATION; ROBOT;
D O I：
10.1109/ICARA51699.2021.9376472
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The real-time RRT-based path planning strategy is designed for the non-holonomic robot in a dynamic environment. The sampling-based strategy, which consists of a pre-processing RRT path planner and a real-time planner, navigate the robot to avoid the unknown moving obstacle, which is time-varying or move randomly. Additionally, the algorithm contains a simple temporary target determination function, and ensures its feasibility in the target-unknown situation. It decreases the real-time computational complexity because of the omission of moving obstacle segmentation, velocity computation, or original path replanning. The feasibility of the navigation strategy is verified by using computation simulation.
引用
收藏
页码：1 / 5
页数：5
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