An Extended RRT Approach for Car-Like Systems

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• Título: An Extended RRT Approach for Car-Like Systems
• Autor: Navarro Pérez, Álvaro Andrés; Buitrago, Jaime Alberto
• Publicación original: IEEE Explore, 2016
• Descripción física: PDF
• Nota general:
  • Dortmund (Alemania)
• Notas de reproducción original: Digitalización realizada por la Biblioteca Virtual del Banco de la República (Colombia)
• Notas:
  • Resumen: An extended method of the optimal rapidly exploration random tree (RRT*) for car-like robots is presented in this research paper. As it is known RRT* approach allows finding an asymptotic optimal solution to path planning problem. However, a lot of unnecessary waypoints are necessary as well as sharp corners between two consecutive segments. Also in this work, a removing redundant waypoints method is implemented by checking the visibility along a neighborhood from an initial configuration which will yield a pruned path. To avoid complex turning of the robot in each waypoint, a smoothness path method is implemented by using quintic Bèzier spline as parametric curve taking into account the constraints imposed by the robot leading to increasing the convergence rate to reach an optimum or near an optimum solution and decrease the execution time. Finally, a simulation is presented to verify the effectiveness of the new path.
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  • Colfuturo
• Forma/género: tesis
• Idioma: castellano
• Institución origen: Biblioteca Virtual del Banco de la República
• Encabezamiento de materia:
  • Car-like systems; Obstacle avoidance; Trayectory planning; Bezier curves
  • Tecnología; Tecnología / Ingeniería y operaciones afines; Tecnología / Ingeniería y operaciones afines / Otras ramas de la ingeniería