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

Authors: Yingying Kong; Yuqi Pan; Xiong Chen

Addresses: 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

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.

Keywords: RRT; rapidly-exploring random tree; two-stage motion planning; sampling-based motion planning; robot path planning; scent pervasion.

DOI: 10.1504/IJWMC.2013.053033

International Journal of Wireless and Mobile Computing, 2013 Vol.6 No.1, pp.34 - 38

Received: 27 Apr 2012
Accepted: 15 May 2012
Published online: 11 Oct 2014 *

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