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Motion planning of unicycle-like robot using single RRT with branch and bound algorithm
- Yan, Rui-Jun;
- Wu, Jing;
- Lee, Ji-Yeong
Citations
SCOPUS
1초록
This paper presents the motion planning of unicycle-like robot using single Rapidly-exploring Random Tree (RRT) algorithm, combining with Branch and Bound (BB) method. RRT can construct the searching tree efficiently between initial configuration and goal configuration. Based on the constructed searching tree, the optimal path can be extracted with BB algorithm rapidly. Obstacles avoidance is realized by checking whether the contour points of robot locate in the space of obstacles. The simulation result in a complex environment with unicycle-like robot proves the validity of proposed algorithms. © 2013 IEEE.
키워드
Branch and Bound algorithm; Motion planning; RRT; Unicycle-like robot; Algorithms; Artificial intelligence; Branch and bound method; Forestry; Linear programming; Robots; Trees (mathematics); Branch and bounds; Branch-and-bound algorithms; Complex environments; Goal configuration; Initial configuration; Obstacles avoidance; Rapidly-exploring random trees; RRT; Motion planning; Algorithms; Artificial Intelligence; Computer Programing; Robots
- 제목
- Motion planning of unicycle-like robot using single RRT with branch and bound algorithm
- 저자
- Yan, Rui-Jun; Wu, Jing; Lee, Ji-Yeong
- 발행일
- 2013-10
- 유형
- Conference Paper
- 저널명
- 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
- 페이지
- 599 ~ 601
- 언어
- ENG
- 출판사
- IEEE Computer Society
- 분량
- 3 페이지