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Authors: Sofiane Ahmed Ali ; Eric Vasselin and Alain Faure

Affiliation: Groupe de Recherce en Electrotechnique Automatique (GREAH) Le Havre University, France

Keyword(s): Robotics, motion planning, rapidly exploring random trees.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: the rapidly exploring random trees (RRTs) have generated a highly successful single query planner which solved difficult problems in many applications of motion planning in recent years. Even though RRT works well on many problems, they have weaknesses in environments that handle complicated geometries. Sampling narrow passages in a robot’s free configuration space remains a challenge for RRT planners indeed; the geometry of a narrow passage affects significantly the exploration property of the RRT when the sampling domain is not well adapted for the problem. In this paper we characterize the weaknesses of the RRT planners and propose a general framework to improve their behaviours in difficult environments. We simulate and test our new planner on mobile robots in many difficult static environments which are completely known, simulations show significant improvements over existing RRT based planner to reliably capture the narrow passages areas in the configuration space.

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Paper citation in several formats:
Ahmed Ali, S.; Vasselin, E. and Faure, A. (2007). A NEW PROBABILISTIC PATH PLANNER - For Mobile Robots Comparison with the Basic RRT Planner. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 402-407. DOI: 10.5220/0001649504020407

@conference{icinco07,
author={Sofiane {Ahmed Ali}. and Eric Vasselin. and Alain Faure.},
title={A NEW PROBABILISTIC PATH PLANNER - For Mobile Robots Comparison with the Basic RRT Planner},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={402-407},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001649504020407},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - A NEW PROBABILISTIC PATH PLANNER - For Mobile Robots Comparison with the Basic RRT Planner
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Ahmed Ali, S.
AU - Vasselin, E.
AU - Faure, A.
PY - 2007
SP - 402
EP - 407
DO - 10.5220/0001649504020407
PB - SciTePress

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