|제목(국문)||RRT와 SPP 경로 평활화를 이용한 자동주행 로봇의 경로 계획 및 장애물 회피 알고리즘|
|제목(영문)||Path Planning and Obstacle Avoidance Algorithm of an Autonomous Traveling Robot Using the RRT and the Spp Path Smoothing|
이영삼 (Young-Sam Lee ,Department of Electrical Engineering, Inha University ) ▷공저자네트워크등록하기
In this paper, we propose an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, which can be effectively applied in an environment where obstacles can be represented by circles. Firstly, we briefly introduce the rapidly exploring random tree (RRT) and single polar polynomial (SPP) algorithm. Secondly, we present additional two methods for applying our proposed method. Thirdly, we propose a global path planning, smoothing and obstacle avoidance method that combines the RRT and SPP algorithms. Finally, we present a simulation using our proposed method and check the feasibility. This shows that proposed method is better than existing methods in terms of the optimality of the trajectory and the satisfaction of the kinematic constraints.
|keyword||path planning, autonomous traveling robot, RRT, SPP curve, path smoothing|