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.


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    Title :

    Real-Time Path Planning Algorithm Based on ROS Mobile Robot


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Cao, Kai (author) / Dang, Haixin (author) / Chen, Chaobo (author) / Gao, Song (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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