Path Planning in Large-Scale Indoor Environment Using RRT
Zhao Kaikai, Yangmin Li · 2016
Abstract: This paper addresses the problem of implementing Rapidly-exploring Random Tree (RRT) in a large-scale indoor environment. The details of environment modeling based on real indoor metric map are described, thereafter a novel method is used to construct a topological map. A series of tests indicate that RRT planner using this topological map can efficiently search for appropriate path by reducing the search space size.