Omni-Wheeled Robot with Rapidly-exploring Random Tree (RRT) Algorithm for Path Planning
Zainul Abidin, Muhram Muis, Waru Djuriatno · 2019
Robot built with omni-directional wheels (omni-wheeled robot) is required to perform free movement. In some applications, the omni-wheeled robot is expected to avoid obstacle without shifting or breaking it down. Therefore, Rapidly-exploring Random Tree (RRT) algorithm is important to be implemented to the omni-wheeled robot for path planning. Experiment conditions were devided by same and different points (starting and destination). For each experimental condition, obstacle shift less than 5 cm occurred in 1 of 5 experiments. Therefore, the RRT algorithm is useful for generating paths from the starting point to the destination point with avoiding obstacle.