Path Planning Based on Heuristic Rapidly-Exploring Random Tree for Nonholonomic Mobile Robot

Liang Kang; Lian Cheng Mao

doi:10.4028/www.scientific.net/AMM.494-495.1161

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Path Planning Based on Heuristic Rapidly-Exploring...

Path Planning Based on Heuristic Rapidly-Exploring Random Tree for Nonholonomic Mobile Robot

Abstract:

The RRT algorithm and the heuristic function are combined in the mobile robot path planning, so a novel path planning is proposed. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the heuristic Rapidly-Exploring Random Tree for nonholonomic mobile robot path planning is feasible and effective.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1161-1164

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1161

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Online since:

February 2014

Authors:

Liang Kang*, Lian Cheng Mao

Keywords:

Mobile Robot, Path Planning, Rapidly-Exploring Random

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* - Corresponding Author

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