A Multi-RRT Based Hierarchical Path Planning Method

摘要：

　　The Rapidly-Exploring Random Tree (RRT) algorithm is an efficient approach to solve the path planning problem with nonholonomic constraint of wheeled mobile robot.However,the efficiency of the RRT algorithm will be reduced dramatically when a large amount of obstacles scatter in the environment.On the other hand,the RRT path planner is not optimized,which becomes the bottleneck of the traditional RRT algorithm.In this paper,a two-leveled hierarchical path planning method is presented to overcome the difficulties mentioned above.On the top level of the method,a multi-RRT framework is created by artificial-guided points to exploit and generate traversable area through RRT local exploration and merge function; on the bottom level,a heuristic search algorithm is adopted to effectively search for a feasible trajectory in the traversable area.The experimental results verify the effectiveness of the proposed method in solving the problem of wheeled robot path planning in complex environments.

关键词： hierarchical strategy path planning wheeled mobile robot RRT

作者: Quan Wang Wei Wang Yan Li

作者单位: College of Mechatronics and Automation National University of Defense Technology Changsha, China

会议类型: 国际会议

会议名称: 2012 IEEE 14th International Conference on Communication Technology(2012年第十四届通信技术国际会议(ICCT 2012))

会议地点: 成都

会议语种:英文

页码: 1040-1044

在线出版日期: 2012-11-09（万方平台首次上网日期，不代表论文的发表时间）