Trajectory planner cdt-rrt* For car-like mobile robots toward narrow and cluttered environments

Hyunki Kwon, Donggeun Cha, Jihoon Seong, Jinwon Lee, Woojin Chung

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

In order to achieve the safe and efficient navigation of mobile robots, it is essential to consider both the environmental geometry and kinodynamic constraints of robots. We propose a trajectory planner for car-like robots on the basis of the Dual-Tree RRT (DT-RRT). DT-RRT utilizes two tree structures in order to generate fast-growing trajectories under the kinodynamic constraints of robots. A local trajectory generator has been newly designed for car-like robots. The proposed scheme of searching a parent node enables the efficient generation of safe trajectories in cluttered environments. The presented simulation results clearly show the usefulness and the advantage of the proposed trajectory planner in various environments.

Original languageEnglish
Article number4828
JournalSensors
Volume21
Issue number14
DOIs
Publication statusPublished - 2021 Jul 2

Keywords

  • Laser scanner
  • Mobile robot
  • Motion control
  • Path planning
  • Trajectory generation
  • Wheel odometry

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

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