Smoothed RRT techniques for trajectory planning

摘要

Trajectory planning of a car-like mobile robot tracking a moving target by avoiding dynamic obstacles is developed using Smoothed Rapidly exploring Random Tree (RRT) and Smoothed Bidirectional RRT techniques. Case studies are done in dynamic and static environments. Kinematic model is considered for the mobile robot. The model of the system and the path planning algorithm including all case studies has been simulated for both RRT techniques. The performance comparison of both methods are done and the required results are obtained in MATLAB.