Publication Type:

Conference Paper

Source:

2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), IEEE, Kollam, India (2017)

ISBN:

9781538640210

URL:

https://ieeexplore.ieee.org/document/8397376

Keywords:

car-like mobile robot, Car-Like Mobile Robot (CLMR), Collision avoidance, Dynamic environments, dynamic obstacles, kinematic model, Mobile robots, moving target tracking, non-holonomic constraints, Random Number Generators(RNG), random processes, Rapidly exploring Random Tree (RRT), robot kinematics, Smoothed Bidirectional RRT (SBRRT), Smoothed Bidirectional RRT techniques, smoothed rapidly exploring random tree, Smoothed RRT (SRRT), Smoothed RRT techniques, static environments, Target tracking, trajectory planning, Trees (mathematics)

Abstract:

Trajectory planning of a car-like mobile robot tracking a moving target by avoiding dynamic obstacles is developed using Smoothed Rapidly exploring Random Tree (RRT) and Smoothed Bidirectional RRT techniques. Case studies are done in dynamic and static environments. Kinematic model is considered for the mobile robot. The model of the system and the path planning algorithm including all case studies has been simulated for both RRT techniques. The performance comparison of both methods are done and the required results are obtained in MATLAB.

Cite this Research Publication

K. R. Jayasree, Jayasree P. R., and A. Vivek, “Smoothed RRT techniques for trajectory planning”, in 2017 International Conference on Technological Advancements in Power and Energy ( TAP Energy), Kollam, India, 2017.