Path Planning Based in Algorithm Rapidly-Exploring Random Tree RRT
This paper presents an algorithm of road planning based on the rapid exploration of random trees RRT for a mobile robot type unicycle in a structured environment, this planning algorithm has been incorporated a post-processing function to smooth the initial path found, in order to facilitate
navigation of the mobile robot; In addition a control scheme is proposed, wherein the speed of the mobile robot is equal to the desired speed on the road, this desired speed is a function of the control error. The stability of the control algorithm is tested using the Lyapunov method. Finally,
we present and discuss the experimental results in which the proposal is validated.
Keywords: Path Planning; RRT; Robots Tipo Uniciclo
Document Type: Research Article
Affiliations: Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador
Publication date: 01 November 2018
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