A SRT-Based Path Planning Algorithm in Unknown Complex Environment
Aiming to the robot path planning problem in the unknown complex environment,this paper presents an improved Sensor-based Random Tree(SRT)path planning algorithm.First,RRT and SRT path planning algorithms are briefly introduced.Then,an original algorithm which uses the real-time local information from robot sensors and the target tendency method to make the online planning is presented.The algorithm overcomes SRTs redundant branches and low efficiency by combining the nonholonomic constraint conditions and the candidate viewpoint optimization,on which improves SRTs planning efficiency,and guarantees its stability as well.Finally,simulated experiments are done on Player/Stage and MRDS platforms,and the results verified the reliability and effectiveness of the proposed algorithm.
Path Planning Optimization Strategy Random Tree Nonholonomic System
Zou Yiping Guo Jian Zhang Ruilei Chen Qingwei
School of Automation,Nanjing University of Science and Technology,Nanjing 210094
国际会议
长沙
英文
3857-3862
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）