文章基本信息

标题：RRTCAP∗ - RRT∗ Controller and Planner - Simultaneous Motion and Planning
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作者：Robin Heβ ; Tobias Lindeholz ; Daniel Eck 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：10
页码：52-57
DOI：10.1016/j.ifacol.2015.08.107
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a trajectory planning approach, the Rapidly Exploring Random Tree∗ Controller and Planner (RRTCAP∗), combining the planning phase of a RRT∗-based algorithm with the execution phase on a real robot. Despite the necessary adaption of RRT∗ - planner, using Reed-Sheeps curves as local planning method, a trajectory controller is shown which is necessary for compensating deviations introduced by mechanical tolerances and simplified models. The algorithm is implemented on the existing mobile robot Outdoor MERLIN and evaluated in different scenarios using simulations, as well as hardware experiments.