检索结果-内蒙古大学图书馆

A Global path planning Algorithm for Mobile Robot in Cluttered Environments with an Improved Initial Cost Solution and Convergence Rate

引用

ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2022年第3期47卷 3633-3647页

作者： Ganesan, Sivasankar Natarajan, Senthil Kumar Srinivasan, Jeevaanand Mepco Schlenk Engn Coll Dept Elect & Commun Engn Sivakasi 626005 Tamil Nadu India Mepco Schlenk Engn Coll Dept Elect & Elect Engn Sivakasi 626005 Tamil Nadu India

sampling-based path planning algorithms are popularly used in autonomous mobile robot navigation applications. Optimal Rapidly exploring Random Trees (RRT*) is one of the well-known sampling-based single-query path planning algorithms and it is asymptotically optimal, but its convergence is slow. To address the slow convergence problem of the RRT* algorithm, this paper proposes a directional RRT* algorithm called D-RRT*. The key idea of D-RRT* is to reduce the sampling space. This is achieved in this proposed work by focusing on the direction of the goal from the starting configuration through a simple elliptical heuristic formed between them. The proposed methodology is validated in two different cluttered 2D environments and compared with existing algorithms. The proposed D-RRT* path planning algorithm outperforms the RRT* in three performance measures: the initial cost solution, convergence time, and the number of nodes visited. The convergence rate of the proposed D-RRT* is improved over RRT* by 8.5% and 14.7% in the two cluttered environments considered. Also, the proposed D-RRT* algorithm is validated in a real-time environment using the TurtleBot3 robot.

关键词： Rapidly exploring random tree Directional sampling-based path planning algorithms Mobile robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：