As a global path planning algorithm, RRT has some advantages in global path planning, but it can’t change the path in random obstacle environment to realize real-time obstacle avoidance. Therefore, two hybrid path planning algorithms, RRT+ improved DWA and RRT+TEB, are proposed to improve the real-time performance of RRT. In addition, an experimental environment was established to verify the two hybrid algorithms and the results were analyzed. Experimental verification and analysis show that the two hybrid algorithms have good real-time performance and can effectively improve the task execution efficiency under unknown environment.
Real-Time Path Planning Algorithm Based on ROS Mobile Robot
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 188 ; 1902-1912
18.03.2022
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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