An RRT-Based Path Planning Strategy in a Dynamic Environment

摘要

The real-time RRT-based path planning strategy is designed for the non-holonomic robot in a dynamic environment. The sampling-based strategy, which consists of a pre-processing RRT path planner and a real-time planner, navigate the robot to avoid the unknown moving obstacle, which is time-varying or move randomly. Additionally, the algorithm contains a simple temporary target determination function, and ensures its feasibility in the target-unknown situation. It decreases the realtime computational complexity because of the omission of moving obstacle segmentation, velocity computation, or original path replanning. The feasibility of the navigation strategy is verified by using computation simulation.