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Motion planning of unicycle-like robot using single RRT with branch and bound algorithm
- Authors
- Yan, Rui-Jun; Wu, Jing; Lee, Ji-Yeong
- Issue Date
- Oct-2013
- Publisher
- IEEE Computer Society
- Keywords
- Branch and Bound algorithm; Motion planning; RRT; Unicycle-like robot
- Citation
- 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, pp.599 - 601
- Indexed
- SCOPUS
- Journal Title
- 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
- Start Page
- 599
- End Page
- 601
- Abstract
- This paper presents the motion planning of unicycle-like robot using single Rapidly-exploring Random Tree (RRT) algorithm, combining with Branch and Bound (BB) method. RRT can construct the searching tree efficiently between initial configuration and goal configuration. Based on the constructed searching tree, the optimal path can be extracted with BB algorithm rapidly. Obstacles avoidance is realized by checking whether the contour points of robot locate in the space of obstacles. The simulation result in a complex environment with unicycle-like robot proves the validity of proposed algorithms. © 2013 IEEE.
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Related Researcher
- Lee, Ji Yeong
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)