Path planning combining improved rapidly-exploring random trees with dynamic window approach in ROS
文献类型：会议论文
| 作者 | Jianxun Wang; Yushi Wu; Huiyun Li; Jie Zou |
| 出版日期 | 2018 |
| 会议日期 | 2018 |
| 会议地点 | 中国武汉 |
| 英文摘要 | Path planning is a fundamental research area in robotics. Sampling-based methods have been extended further away from basic robot planning into further difficult scenarios and diverse applications for their efficient solution. Issues occurred where they only offer a path rather than velocity commands; the changing situation of environment is hard to tackle. This paper presents a novel integrated approach of creating path for robot navigation with dynamic constrains. In the proposed algorithm, a biased Rapidly-Exploring Random Trees (RRT) is utilized to find a global path in the configuration space. Then, the Dynamic Window Approach (DWA) is performed over the path to calculate translational and rotational velocity commands for the robot. Performance of the proposed method is tested and validated using Robot Operating System (ROS). Simulations show that the proposed methodology achieves efficient and smooth path for the robot under the dynamic constrains. |
| URL标识 | 查看原文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13739]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Jianxun Wang,Yushi Wu,Huiyun Li,et al. Path planning combining improved rapidly-exploring random trees with dynamic window approach in ROS[C]. 见:. 中国武汉. 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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