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This paper proposes an online path-planning algorithm based on Rapidly-Exploring Random Trees (RRT) applied to the autonomous navigation of a mobile robot. The proposed planner includes two heuristics to improve the performance and generates a set of collision-free paths, from which the one with the most similarity to a reference path given by a supervisor human operator is chosen. This reference can be given a priori when setting the start and goal positions, and be defined as the straight path between them. Simulations and experiments are made to evaluate the performance of the proposed method.
Date of Conference: 14-17 March 2010