Extended rapidly exploring random tree–based dynamic path planning and replanning for mobile robots

Rapidly exploring random graphs: motion planning of multiple mobile robots

Rapidly Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM) are sampling based techniques being extensively used for robot path planning. In this paper the tree structure of the RRT is generalized to a graph structure which enables a greater exploration. Exploration takes place simultaneously from multiple points in the map, all explorations fusing at multiple points producing well-co...

Rapidly-Exploring Random Trees: A New Tool for Path Planning

Robotic Path Planning using Rapidly exploring Random Trees

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

On-line Path Planning for Mobile Robots in Dynamic Environments

Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...

Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space

Simultaneous planning while localizing is a crucial ability for an autonomous robot operating under uncertainty. This paper addresses this problem by designing methods to dynamically replan while the localization uncertainty or environment map is updated. In particular, relying on sampling-based methods, the proposed online planning scheme can cope with challenging situations, including when th...