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Non-holonomic Path Planning of Car-like Robot using RRT*FN

Spanogianopoulos, Sotirios and Sirlantzis, Konstantinos (2015) Non-holonomic Path Planning of Car-like Robot using RRT*FN. In: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, pp. 53-57. E-ISBN 978-1-4673-7971-7. (doi:10.1109/URAI.2015.7358927) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
http://dx.doi.org/10.1109/URAI.2015.7358927

Abstract

Path planning of car-like robots can be done using RRT and RRT*. Instead of generating the non-holonomic path between two sampled configurations in RRT, our approach finds a small incremental step towards the next configuration. Since the incremental step can be in any direction we use RRT to guide the robot from start configuration to end configuration. Moreover, an effective variant of RRT called as RRT - Fixed Nodes (RRT*FN) is used to show the path planning of non-holonomic car-like robot. The algorithm is further tested with different static environments. The results show that RRT*FN implemented with non-holonomic constraints is able to find a feasible solution with the increased cost of number of iterations of RRT*FN while maintaining fixed number of nodes.

Item Type: Book section
DOI/Identification number: 10.1109/URAI.2015.7358927
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Divisions: Faculties > Sciences > School of Engineering and Digital Arts > Image and Information Engineering
Depositing User: Konstantinos Sirlantzis
Date Deposited: 14 Dec 2015 01:08 UTC
Last Modified: 24 Sep 2019 15:16 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/53297 (The current URI for this page, for reference purposes)
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