Improved RRT-based path planning algorithm for 2D mobile robots

Xiaoyang Li; Dengbo Zhang; Jianhui Shi; Yuanmei Song; Ruquan Liang

doi:10.1117/12.3025904

1 April 2024 Improved RRT-based path planning algorithm for 2D mobile robots

Xiaoyang Li, Dengbo Zhang, Jianhui Shi, Yuanmei Song, Ruquan Liang

Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 130820H (2024) https://doi.org/10.1117/12.3025904
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China

Abstract

This paper proposes an improved RRT algorithm based on the cellular decomposition method. In the constructed two-dimensional plane, the space is decomposed into traversable regions and obstacle regions. Subsequently, based on the relationships between adjacent regions, random sampling points are constrained within neighboring regions until expansion reaches the region containing the target node. The planned route is then optimized to effectively address the issue of excessive turning points. Simulation results demonstrate that the improved RRT algorithm enhances path planning accuracy and efficiency in the application of two-dimensional mobile robot navigation, reducing travel distances and lowering cost consumption.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaoyang Li, Dengbo Zhang, Jianhui Shi, Yuanmei Song, and Ruquan Liang "Improved RRT-based path planning algorithm for 2D mobile robots", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 130820H (1 April 2024); https://doi.org/10.1117/12.3025904

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