A kind of two-stage RRT algorithm for robotic path planning

Authors:
Yingying Kong;Yuqi Pan;Xiong Chen
Affiliations:
Intelligent Control Research Lab, Department of Electronic Engineering, Fudan University, Shanghai, China;Intelligent Control Research Lab, Department of Electronic Engineering, Fudan University, Shanghai, China;Intelligent Control Research Lab, Department of Electronic Engineering, Fudan University, Shanghai, China
Venue:
International Journal of Wireless and Mobile Computing
Year:
2013

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Abstract

In order to solve the problem of motion planning with dynamics, RRT algorithm was proposed. But with the environment becoming complex, the tree exploration slows down significantly. In this paper, a novel two-stage motion planning is proposed. The first stage is discrete search based on the scent pervasion principle, and the second stage is the sampling-based motion planning under the direction of the scent information. The results show the good performance and convergence speed of the proposed algorithm.