Efficient exploration of unknown environments with RRT-boundary constraints

Weixin Lü; Lijun Zhao; Ke Wang; Zhipeng Li

Efficient exploration of unknown environments with RRT-boundary constraints

Weixin Lü^*
, Lijun Zhao
, Ke Wang
, Zhipeng Li

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

Focus on the efficiency of exploring environment, the rapid random trees (RRT) algorithm was improved, and a method of path planning was proposed for exploring unknown environment. The method searched and surrounded obstacles by using sensor sensing local known environments. The strategy was also designed in method to remove the dynamics objective to protect the global exploration of environments. The results demonstrate that the new method can improve efficiency and activity of environment exploration.

Original language	English
Pages (from-to)	366-369
Number of pages	4
Journal	Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)
Volume	39
Issue number	SUPPL. 2
State	Published - Nov 2011

Keywords

Environment exploration
Navigation
Path planning
Rapid random trees (RRT)
Robot

Cite this

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title = "Efficient exploration of unknown environments with RRT-boundary constraints",

abstract = "Focus on the efficiency of exploring environment, the rapid random trees (RRT) algorithm was improved, and a method of path planning was proposed for exploring unknown environment. The method searched and surrounded obstacles by using sensor sensing local known environments. The strategy was also designed in method to remove the dynamics objective to protect the global exploration of environments. The results demonstrate that the new method can improve efficiency and activity of environment exploration.",

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AU - Lü, Weixin

AU - Zhao, Lijun

AU - Wang, Ke

AU - Li, Zhipeng

PY - 2011/11

Y1 - 2011/11

N2 - Focus on the efficiency of exploring environment, the rapid random trees (RRT) algorithm was improved, and a method of path planning was proposed for exploring unknown environment. The method searched and surrounded obstacles by using sensor sensing local known environments. The strategy was also designed in method to remove the dynamics objective to protect the global exploration of environments. The results demonstrate that the new method can improve efficiency and activity of environment exploration.

AB - Focus on the efficiency of exploring environment, the rapid random trees (RRT) algorithm was improved, and a method of path planning was proposed for exploring unknown environment. The method searched and surrounded obstacles by using sensor sensing local known environments. The strategy was also designed in method to remove the dynamics objective to protect the global exploration of environments. The results demonstrate that the new method can improve efficiency and activity of environment exploration.

KW - Environment exploration

KW - Navigation

KW - Path planning

KW - Rapid random trees (RRT)

KW - Robot

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M3 - 文章

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SN - 1671-4512

VL - 39

SP - 366

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JO - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)

JF - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)

IS - SUPPL. 2

ER -

Efficient exploration of unknown environments with RRT-boundary constraints

Abstract

Keywords

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