A kind of two-stage RRT algorithm for robotic path planning
by Yingying Kong; Yuqi Pan; Xiong Chen
International Journal of Wireless and Mobile Computing (IJWMC), Vol. 6, No. 1, 2013

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.

Online publication date: Sat, 11-Oct-2014

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