publication . Article . 2018

THE MODIFICATION OF THE RRT ALGORITHM FOR THE OPTIMAL TRAJECTORY DETERMINING OF THE MOTION VEHICLE WITH THE OBSTACLES AVOIDANCE

I. Z. Akhmetzyanov; M. A. Ionov; V. S. Karabcev;
Open Access Russian
  • Published: 07 Feb 2018 Journal: Вестник СибАДИ, issue 6, pages 148-154 (issn: 2071-7296, eissn: 2658-5626, Copyright policy)
  • Publisher: Siberian State Automobile and Highway University
Abstract
The problem of planning the motion path of an unmanned vehicle is presented in the article. The results of development and the software implementation, and the research of the algorithm for constructing quasi- optimal trajectory of an unmanned vehicle in a known environment are shown. The RRT standard algorithm as the basis for the path construction between two points is used in the article. To improve the efficiency, the basic algorithm of the following modifications such as the orientation to the finish point, the removal of intermediate vertices are introduced. The orientation to the finish point allows to check the possibility of the direct connection to the...
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Subjects
free text keywords: algorithms, autonomous vehicles, motion planning, route search, robotics, dubins curves, rrt, Transportation engineering, TA1001-1280, Computer science, Control theory, Optimal trajectory
Communities
Transport Research
Rural Digital Europe
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