Optimal Path Planning using RRT for Dynamic Obstacles

摘要

Rapidly Exploring Random Tree is a technique that utilizes samples as constraints for arranging the paths from given source to reach multiple goals. A sample is randomly selected from the configuration space. Each data point is represented as a step that helps in travelling of a robot from one point to another. By initiating the search process, the pursuit calculation endeavors to achieve the objective of the proposed work, further the position assisted regions are investigated. However, when compared with A* calculation, the proposed method has a more reasonable good performance. The Simulation results demonstrate for reaching the desired goal starting from a source to destination in dynamic environment.