Bidirectional variable probability RRT algorithm for robotic path planning
文献类型：专著章节/文集论文
| 作者 | Chen, Xiong; Kong, Yingying; Han JD(韩建达)
|
| 专著(文集)名 | Electrical, Information Engineering and Mechatronics 2011 |
| 其他责任者 | Xudong Wang, Fuzhong Wang and Shaobo Zhong |
| 出版日期 | 2012 |
| 出版者 | Springer Verlag ; Springer Verlag |
| 出版地 | Heidelberg, Germany ; Heidelberg, Germany |
| 出处页码 | 1745-1751 |
| 关键词 | Motion planning Nonholonomic constraint RRT Goal bias Dynamics models Motion planning Nonholonomic constraint RRT Goal bias Dynamics models |
| 出版者 | Springer Verlag ; Springer Verlag |
| 出版地 | Heidelberg, Germany ; Heidelberg, Germany |
| 收录类别 | EI |
| 关键词 | Motion planning Nonholonomic constraint RRT Goal bias Dynamics models Motion planning Nonholonomic constraint RRT Goal bias Dynamics models |
| 产权排序 | 2 |
| 中文摘要 | The traditional goal-bias RRT is mentioned to improve the efficiency, but it has an inherent problem, when there are lesser vertexes, the search toward the goal is often invalid; however, when there are more vertexes, the search toward other regions is often unnecessary. To solve this problem, we introduce a kind bidirectional variable probability RRT algorithm. In this paper, we build two trees, and one tree expands toward to the other tree at a variable probability. This probability is in proportion to the coverage of the trees, that is, when there are lesser vertexes, the searches are mainly toward unexplored regions, and when there are more vertexes, we attach more importance to the connection of two trees. The results show the good performance and convergence speed of the proposed algorithm. |
| ISBN号 | 978-1-4471-2466-5 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/9849]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen, Xiong,Kong, Yingying,Han JD. Bidirectional variable probability RRT algorithm for robotic path planning. Electrical, Information Engineering and Mechatronics 2011. Heidelberg, Germany, Heidelberg, Germany:Springer Verlag, Springer Verlag,2012:1745-1751. |
入库方式： OAI收割
来源：沈阳自动化研究所
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