Wheeled robot path planning method based on hybrid strategy
Wang Qua · Computer Engineering and Applications Journal · 2014
The Rapidly-exploring Random Tree(RRT)algorithm is an efficient approach to solve the path planning problem with nonholonomic constraints of wheeled robot. Robot dynamic constraints can be imported to the path planning process of RRT. However the efficiency of the RRT algorithm will be reduced when a lot of obstacles exist in the environment. On the other hand, the path planned with RRT algorithm is non-optimal, which limit the application of RRT in path planning for wheeled robot. Aiming to overcome the above shortages of RRT algorithm, a hybrid strategy based path planning method is presented. A multi-RRT structure is obtained according to artificial-guided points and then traversable areas can be found quickly using the RRT local exploration and merge features; A heuristic search algorithm is used to quickly find a robot trajectory which meets the dynamic constraints in traversable areas. The experiments show that this method can quickly and efficiently solve the problem of wheeled robot path planning in complex obstacle environment.