Application of RRT Algorithm to Unmanned Ground Vehicle Motion Planning and Obstacle Avoidance
Yiqun Dong, Youmin M. Zhang · Proceedings of International Conference on Intelligent Unmanned Systems · 2015
This report presents an application of Randomized Rapidly-exploring Tree (RRT) algorithm to unmanned ground vehicle motion planning and obstacle avoidance. Dynamics and kinemics of the vehicle are presented. A pure-pursuit motion controller is discussed. General structure of the RRT algorithm, including node selection, tree expansion, and path generation is introduced. After a feasible path is found, certain optimization efforts are included to shorten the overall length of the path. Experimental tests using real ground vehicle are demonstrated. Based on the test results, the motion planning and obstacle avoidance strategies proposed in this paper proves to be effective.