An improved RRT path planning algorithm

作者：Song Jin Ze^*; Dai Bin; Shan En Zhong; He Han Gen

来源：Acta Electronica Sinica, 2010, 38(2A): 224-228.

• B-spline
• Basic functions
• Field test
• Land vehicles
• Path-planning
• Path-planning algorithm
• Reference points

Aiming at the application of ALV (automatic land vehicle), an improved RRT (Rapidly Random-exploring Trees) path planning algorithm is proposed. The algorithm combines the noholonomic constraints of vehicle with double extend RRTs, which not only improves the efficiency of searching but also guarantees the feasibility of the path at the same time. The path points are taken as reference points for the B-spline basic function, approach and create a new smooth route which suits for the vehicle to follow. The simulation outcomes and field tests verify the effectiveness of the method proposed.

• 出版日期2010