Path Planning of Mobile Robot Based on RRT in Rugged Terrain

Abstract

The1 basic RRT algorithm is difficult to realize the path planning of 3D environment. Aiming at the 3D path planning problem of mobile robot in complex environment. An improved RRT algorithm is proposed. Firstly, the 3D environment model is established for the path planning of mobile robot under complex rugged terrain, and the task requirements are analyzed. Then, based on the basic RRT algorithm, a new node acceptance criterion is proposed for the particularity of 3D environment. This acceptance criterion of new node take into account the variation of terrain height, the smooth of path, and the kinematics constraints such as turning radius and pitch angle of the mobile robot. Furthermore, the dynamic pg value design is carried out, and the process of improving the algorithm is given. At last, simulation results show the effectiveness of the proposed method. The generated path passes at low altitudes, avoiding peaks and rough terrain.