Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Path Planning and Obstacle Avoidance Algorithm of an Autonomous Traveling Robot Using the RRT and the SPP Path Smoothing

RRT와 SPP 경로 평활화를 이용한 자동주행 로봇의 경로 계획 및 장애물 회피 알고리즘

  • 박영상 (인하대학교 전기공학과) ;
  • 이영삼 (인하대학교 전기공학과)
  • Received : 2015.12.01
  • Accepted : 2016.01.19
  • Published : 2016.03.01
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Abstract

In this paper, we propose an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, which can be effectively applied in an environment where obstacles can be represented by circles. Firstly, we briefly introduce the rapidly exploring random tree (RRT) and single polar polynomial (SPP) algorithm. Secondly, we present additional two methods for applying our proposed method. Thirdly, we propose a global path planning, smoothing and obstacle avoidance method that combines the RRT and SPP algorithms. Finally, we present a simulation using our proposed method and check the feasibility. This shows that proposed method is better than existing methods in terms of the optimality of the trajectory and the satisfaction of the kinematic constraints.

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References

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