TY - GEN
T1 - Path Planning for Robot with Pose Constraints Using Dubins-RRT
AU - Cui, Peng
AU - Yan, Weisheng
AU - Guo, Xinxin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/11
Y1 - 2019/1/11
N2 - Path planning is one of the critical tasks for mobile robots in environment with obstacles. This paper presents a path planning approach for mobile robots with pose constraints to address the obstacle avoidance problem. In this approach, Dubins curves are integrated with the rapidly-exploring random tree to determine the resultant path for collision avoidance. The procedures of the rapidly-exploring random tree approach are modified based on the characters of the Dubins curves in order to handle the pose constraints of the robot. Meanwhile, rather than using the Dubins curves to search the workspace inefficiently, several heuristic conditions are designed and adopted to accelerate the sampling and path planning process. Simulation results are also presented in this paper to prove the feasibility and efficiency of the proposed path planning approach.
AB - Path planning is one of the critical tasks for mobile robots in environment with obstacles. This paper presents a path planning approach for mobile robots with pose constraints to address the obstacle avoidance problem. In this approach, Dubins curves are integrated with the rapidly-exploring random tree to determine the resultant path for collision avoidance. The procedures of the rapidly-exploring random tree approach are modified based on the characters of the Dubins curves in order to handle the pose constraints of the robot. Meanwhile, rather than using the Dubins curves to search the workspace inefficiently, several heuristic conditions are designed and adopted to accelerate the sampling and path planning process. Simulation results are also presented in this paper to prove the feasibility and efficiency of the proposed path planning approach.
UR - https://www.scopus.com/pages/publications/85061483600
U2 - 10.1109/ICARM.2018.8610812
DO - 10.1109/ICARM.2018.8610812
M3 - 会议稿件
AN - SCOPUS:85061483600
T3 - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
SP - 560
EP - 565
BT - ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Y2 - 18 July 2018 through 20 July 2018
ER -