Research on path planning of mobile robot based on NF-RRT

Chuang-ye Li

doi:10.1117/12.3011775

7 December 2023 Research on path planning of mobile robot based on NF-RRT

Chuang-ye Li

Proceedings Volume 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023); 129414U (2023) https://doi.org/10.1117/12.3011775
Event: Third International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 203), 2023, Yinchuan, China

Abstract

In order to solve the problem of node aggregation and low collision detection efficiency of RRT algorithm in complex environments, this paper proposes an RRT algorithm based on a multi-indicator node filtering strategy. This algorithm can avoid repeated collision detection of nodes in subsequent planning processes by collecting information such as collision probability, collision direction angle, and node distribution. With the growth of the random tree, the limit information in the space can be continuously improved, so that the reachable workspace of the robot will be gradually clear. Through comparative experiments, it has been proven that the improved algorithm in this paper can quickly and stably avoid obstacles and reach the target point, effectively improving the efficiency of path planning.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Chuang-ye Li "Research on path planning of mobile robot based on NF-RRT", Proc. SPIE 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023), 129414U (7 December 2023); https://doi.org/10.1117/12.3011775

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