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RRT와 SPP 경로 평활화를 이용한 자동주행 로봇의 경로 계획 및 장애물 회피 알고리즘
Author
박영상, 이영삼
Journal Title
제어.로봇.시스템학회 논문지
Publication Year
2016
Topics
Summary
This paper proposes an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, effective in environments with circular obstacles. By combining the RRT and SPP algorithms, the study presents a global path planning, smoothing, and obstacle avoidance method that achieves optimal trajectories and satisfies kinematic constraints, validated through simulation results demonstrating superior performance compared to existing methods.
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