88,681 research outputs found
Dynamic Path Planning and Replanning for Mobile Robots using RRT*
It is necessary for a mobile robot to be able to efficiently plan a path from
its starting, or current, location to a desired goal location. This is a
trivial task when the environment is static. However, the operational
environment of the robot is rarely static, and it often has many moving
obstacles. The robot may encounter one, or many, of these unknown and
unpredictable moving obstacles. The robot will need to decide how to proceed
when one of these obstacles is obstructing it's path. A method of dynamic
replanning using RRT* is presented. The robot will modify it's current plan
when an unknown random moving obstacle obstructs the path. Various experimental
results show the effectiveness of the proposed method
RMPD - A Recursive Mid-Point Displacement Algorithm for Path Planning
Motivated by what is required for real-time path planning, the paper starts
out by presenting sRMPD, a new recursive "local" planner founded on the key
notion that, unless made necessary by an obstacle, there must be no deviation
from the shortest path between any two points, which would normally be a
straight line path in the configuration space. Subsequently, we increase the
power of sRMPD by using it as a "connect" subroutine call in a higher-level
sampling-based algorithm mRMPD that is inspired by multi-RRT. As a consequence,
mRMPD spawns a larger number of space exploring trees in regions of the
configuration space that are characterized by a higher density of obstacles.
The overall effect is a hybrid tree growing strategy with a trade-off between
random exploration as made possible by multi-RRT based logic and immediate
exploitation of opportunities to connect two states as made possible by sRMPD.
The mRMPD planner can be biased with regard to this trade-off for solving
different kinds of planning problems efficiently. Based on the test cases we
have run, our experiments show that mRMPD can reduce planning time by up to 80%
compared to basic RRT
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