Publication detail

Rapidly-Exploring Random Trees: 3D Planning

ABBADI, A. MATOUŠEK, R. JANČÍK, S. ROUPEC, J.

Original Title

Rapidly-Exploring Random Trees: 3D Planning

English Title

Rapidly-Exploring Random Trees: 3D Planning

Type

conference paper

Language

en

Original Abstract

Path planning, trajectory planning and path optimizing is problematic issue in robotic domain. In this paper we use RRT algorithm (Rapidly exploring Random tree) and its variations, which are good solutions applied on path and trajectory planning area to find the path from one position to another one. We applied these algorithms in 3D dimensions, this work could be applied for finding the path for Robot arms to carry or catch objects, in obstacles environments. We developed also new algorithms for generating short path by reducing degrees of tortuous, making the path shorter and omitting useless points from the original path.

English abstract

Path planning, trajectory planning and path optimizing is problematic issue in robotic domain. In this paper we use RRT algorithm (Rapidly exploring Random tree) and its variations, which are good solutions applied on path and trajectory planning area to find the path from one position to another one. We applied these algorithms in 3D dimensions, this work could be applied for finding the path for Robot arms to carry or catch objects, in obstacles environments. We developed also new algorithms for generating short path by reducing degrees of tortuous, making the path shorter and omitting useless points from the original path.

Keywords

RRT, 3D RRT, Rapidly exploring Random tree, Path Planning, path optimizing, Short path.

RIV year

2012

Released

27.06.2012

Publisher

VUT

Location

Brno

ISBN

978-80-214-4540-6

Book

18th International Conference of Soft Computing, MENDEL 2012 (id 20379)

Edition

2012

Edition number

1

Pages from

594

Pages to

599

Pages count

6

BibTex


@inproceedings{BUT93360,
  author="Ahmad {Abbadi} and Radomil {Matoušek} and Stanislav {Jančík} and Jan {Roupec}",
  title="Rapidly-Exploring Random Trees: 3D Planning",
  annote="Path planning, trajectory planning and path optimizing is problematic issue in robotic domain. In this paper we use RRT algorithm (Rapidly exploring Random tree) and its variations, which are good solutions applied on path and trajectory planning area to find the path from one position to another one. We applied these algorithms in 3D dimensions, this work could be applied for finding the path for Robot arms to carry or catch objects, in obstacles environments. We developed also new algorithms for generating short path by reducing degrees of tortuous, making the path shorter and omitting useless points from the original path.",
  address="VUT",
  booktitle="18th International Conference of Soft Computing, MENDEL 2012 (id 20379)",
  chapter="93360",
  doi="10.13140/2.1.3632.3848",
  edition="2012",
  howpublished="print",
  institution="VUT",
  number="1",
  year="2012",
  month="june",
  pages="594--599",
  publisher="VUT",
  type="conference paper"
}