NDLI: Kinodynamic Planner Dual-Tree RRT (DT-RRT) for Two-Wheeled Mobile Robots Using the Rapidly Exploring Random Tree

Content Provider	IEEE Xplore Digital Library
Author	Chang-bae Moon Woojin Chung
Copyright Year	1982
Abstract	We propose a new trajectory generation scheme called dual-tree rapidly exploring random tree (DT-RRT), which is designed on the basis of a rapidly exploring random tree (RRT) method. The DT-RRT is suitable for high-speed navigation of a two-wheeled differential mobile robot. The proposed dual tree is composed of a workspace tree and a state tree. The workspace tree finds near sets in the target workspace without considering robot kinematics. Robot trajectories are generated by the extension of the state tree under the consideration of kinematic and dynamic constraints. The proposed scheme allows for different topological structures between the workspace tree and the state tree. Owing to the different structures between two trees, flexible node extensions can be achieved. As a result, the success rate of the node extension can be increased, while the computational cost can be saved. In order to improve the quality of the trajectory, we propose a reconnect-tree scheme that can modify the generated tree structure. The advantage of the reconnect-tree scheme is that the repropagation of the conventional RRT structure is not required. From simulations, the superior performance of DT-RRT was clarified in terms of computing time and success rate. The experimental result supported high quality of the generated trajectory with fast and smooth motion of the robot.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	1080
Ending Page	1090
Page Count	11
File Size	1908146
File Format	PDF
ISSN	02780046
Volume Number	62
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Planning Mobile robots Probabilistic logic Mathematical model Algorithms rapidly exploring random tree (RRT) Kinodynamic planning mobile robots nonholonomic motion planning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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