A TC-RRT-based Path Planning Algorithm for the Nonholonomic Mobile Robots
作者单位：Mechanical Engineering schoolSouthwest Jiaotong University
会议名称：《第36届中国控制会议》
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation(NNSF)of China under Grant No.51605393 the Fundamental Research Funds for the Central Universities(A0920502051619-28)
关 键 词：Nonholonomic mobile robots rapidly-exploring random trees(RRT) local smooth path path planning
摘 要：In this paper,a triangle-curvature RRT-based path planning algorithm is proposed for the application of nonholonomic mobile robots in complex *** algorithm named triangle-curvature RRT（TC-RRT） considers both environmental constraints and vehicle *** triangular geometry is introduced into the RRT *** pruning function is applied in post-processing path to remove the needless nodes that the path length can be *** fixing angle intersection method is proposed to improve the turning path ***,the Cantmull-Rom interpolation is used to improve the path *** this paper,the TC-RRT algorithm is compared with the basic RRT algorithm and BI-RRT *** results of simulation show that the convergence rate of TC-RRT algorithm is faster than the other two,and the smooth path with the shortest distance can be produced which can also satisfy the nonholonomic constraint of mobile robots.