弹道
机器人
移动机器人
规划师
树(集合论)
计算机科学
方案(数学)
节点(物理)
人工智能
工程类
数学
天文
结构工程
物理
数学分析
作者
Hyunki Kwon,Donggeun Cha,Ji-Hoon Seong,Jinwoo Lee,Woojin Chung
出处
期刊:Sensors
[MDPI AG]
日期:2021-07-15
卷期号:21 (14): 4828-4828
被引量:6
摘要
In order to achieve the safe and efficient navigation of mobile robots, it is essential to consider both the environmental geometry and kinodynamic constraints of robots. We propose a trajectory planner for car-like robots on the basis of the Dual-Tree RRT (DT-RRT). DT-RRT utilizes two tree structures in order to generate fast-growing trajectories under the kinodynamic constraints of robots. A local trajectory generator has been newly designed for car-like robots. The proposed scheme of searching a parent node enables the efficient generation of safe trajectories in cluttered environments. The presented simulation results clearly show the usefulness and the advantage of the proposed trajectory planner in various environments.
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