Trajectory planning using improved rapidly-exploring random tree
Yi Bai · Systems engineering and electronics · 2006
A tool called rapidly-exploring random tree is presented.It is suitable for solving trajectory planning problem in a dynamic environment based on the concept of state-time space.Firstly,the experiments are made in 3-dimensional space using a six-degree-of freedom spacecraft model represented by unit quaternion.Experimental results indicate that the proposed scheme has the capability of searching high-dimensional space.Secondly,an experiment is performed in a dynamic environment with moving obstacles with known trajectories,and the result shows that the improved algorithm is effective.