An RRT Based Obstacle Avoidance Motion Planning Algorithm for Free-flying Space Robot
Zheng Chun-feng · Journal of Agricultural Mechanization Research · 2006
The greatest difficulty in the motion planning problem of free-flying space robot (FFSR) arises from its nonholonomic kinematics. In this paper, an obstacle avoidance motion planning algorithm based on rapidly-exploring random trees (RRT) is proposed to deal with this problem. Numerical study is taken out to prove the effectiveness of this algorithm.