Publication detail

Motion planning in challenging environments using rapidly-exploring random trees

GULINA, I.

English title

Motion planning in challenging environments using rapidly-exploring random trees

Type

Paper in proceedings (conference paper)

Language

en

Original abstract

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

Keywords in English

Rapidly-exploring random trees (RRTs) algorithm, multi-trees, motion planning, holonomic mobile robot

Released

2013-06-26

ISBN

978-80-214-4755-4

ISSN

1803-3814

Book

19th International Conference on Soft Computing, MENDEL 2013

Volume

2013

Number

1

Pages from–to

153–160

Pages count

8

BIBTEX


@inproceedings{BUT109015,
  author="Irina {Gulina}",
  title="Motion planning in challenging environments using rapidly-exploring random trees",
  booktitle="19th International Conference on Soft Computing, MENDEL 2013",
  year="2013",
  series="2013",
  journal="Mendel Journal series",
  volume="2013",
  number="1",
  pages="153--160",
  isbn="978-80-214-4755-4",
  issn="1803-3814"
}