Motion planning in challenging environments using rapidly-exploring random trees

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Motion planning in challenging environments using rapidly-exploring random trees

Popis výsledku v původním jazyce

This paper presents an efficient approach to trajectory planning for a holonomic mobile robot moving in static challenging environments including, for example, cluttered environments and spaces with narrow passages. It is an extension of the connect version of Rapidly-exploring random trees (RRT-connect) algorithm. The main idea presented here is to store randomly sampled configuration states which can not be reached because of collision, and then set them as roots to grow other random trees. It presumes growing of many trees in different hard to reach regions of environment to find bridges between them. Both simulation and experimental results demonsrate that it reduces the complexity of the original problem and thus resulting in fast space covering and increase the probability of finding the goal state

Název v anglickém jazyce

Motion planning in challenging environments using rapidly-exploring random trees

Popis výsledku anglicky

This paper presents an efficient approach to trajectory planning for a holonomic mobile robot moving in static challenging environments including, for example, cluttered environments and spaces with narrow passages. It is an extension of the connect version of Rapidly-exploring random trees (RRT-connect) algorithm. The main idea presented here is to store randomly sampled configuration states which can not be reached because of collision, and then set them as roots to grow other random trees. It presumes growing of many trees in different hard to reach regions of environment to find bridges between them. Both simulation and experimental results demonsrate that it reduces the complexity of the original problem and thus resulting in fast space covering and increase the probability of finding the goal state

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

19th International Conference on Soft Computing, MENDEL 2013

ISBN

978-80-214-4755-4

ISSN

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e-ISSN

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Počet stran výsledku

8

Strana od-do

153-160

Název nakladatele

Neuveden

Místo vydání

Neuveden

Místo konání akce

Brno University of Technology

Datum konání akce

26. 6. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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