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@inproceedings{20311,
author = {Abbadi, Ahmad and Přenosil, Václav},
address = {BERLIN, GERMANY},
booktitle = {Modelling and Simulation for Autonomous Systems,},
keywords = {path re-planning; motion planning; RRT; cell decomposition; Multi RRT},
howpublished = {elektronická verze "online"},
language = {eng},
location = {BERLIN, GERMANY},
isbn = {978-3-319-22382-7},
pages = {131-143},
publisher = {Springer International Publishing},
title = {Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms},
url = {http://dx.doi.org/10.1007/978-3-319-22383-4_9},
year = {2015}
}
TY - JOUR
ID - 20311
AU - Abbadi, Ahmad - Přenosil, Václav
PY - 2015
TI - Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms
PB - Springer International Publishing
CY - BERLIN, GERMANY
SN - 9783319223827
KW - path re-planning
KW - motion planning
KW - RRT
KW - cell decomposition
KW - Multi RRT
UR - http://dx.doi.org/10.1007/978-3-319-22383-4_9
N2 - The motion planning is an important part of robots’ models. It is responsible for robot’s movements. In this work, the cell decomposition algorithm is used to find a spatial path on preliminary static workspaces, and then, the rapidly exploring random tree algorithm (RRT) is used to validate this path on the actual workspace. Two methods have been proposed to enhance the omnidirectional robot’s navigation on partially changed workspace. First, the planner creates a RRT tree and biases its growth toward the path’s points in ordered form. The planner reduces the probability of choosing the next point when a collision is detected, which in turn increases the RRT’s expansion on the free space. The second method uses a straight planner to connect path’s points. If a collision is detected, the planner places RRTs on both sides of the collided segment. The proposed methods are compared with the others approaches, and the simulation shows better results in term of efficiency and completeness.
ER -
ABBADI, Ahmad and Václav PŘENOSIL. Collided path replanning in dynamic environments using RRT and Cell decomposition algorithms. Online. In \textit{Modelling and Simulation for Autonomous Systems,}. BERLIN, GERMANY: Springer International Publishing, 2015, p.~131-143. ISBN~978-3-319-22382-7.
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