Collision-free Motion Planning Algorithm Based on RRT for Robot
Xianfeng Wu · Journal of Shenzhen Institute of Information Technology · 2012
For collision avoidance motion planning problem for robot,improved algorithm of basic RRT(Rapidly Random-Exploring Trees)has been proposed.First,basic RRT algorithm has been researched,and thus by integration of the joint space(J-Space) sampling and the configuration space(C-Space) modeling techniques,improved RRT algorithm has been put forward in order to enhance performance stability and convergence speed.Second,collision detection algorithm based OBB(Oriented Bounding Box) has been studied by use of separating axis theorem,and has been successfully integrated into improved RRT to determine whether robot and obstacles collide in C-Space or not.Finally,three-dimensional simulation software framework has been designed and implemented,effectiveness and stability of the proposed algorithm has been verified by computer simulation.