A Compound PRM Method for Path Planning of the Tractor-Trailer Mobile Robot

摘要：

This paper researches the path planning problem for the tractor-trailer mobile robot and presents a novel environment modelling method called Compound PRM which builds the global compound roadmap by combining the local regular roadmap with the universal probabilistic roadmap. Path planning based on the Compound PRM roadmap can improve the quality of the local routes near obstacles and lower the complexity of the planning computation. Also the loss of feasible space is avoided during path planing. The simulation experiment shows that this method is very efficient in the use of tractortrailer mobile robot path planning.

关键词： Tractor-trailer mobile robot Path planning Roadmap Compound PRM

作者: Fengchi Sun Yalou Huang Jing Yuan Yewei Kang Fengying Ma

作者单位: College of Software Nankai University Wiejin Road, Tianjin, China Department of Mechanical Engineering Shandong Institute of Light Industry Jinan, Shandong Province,

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）