Coordinated Path Planning Based on RRT Algorithm for Robot

摘要

In this paper, two robots in different positions with two different paths are planned based on RRT algorithm. And two robots search the ball according to the planned paths coordinated with each other under the circumstance of existing static obstacles. Simulation result showed that the correctness of the planned path. RRT algorithm is suitable for path planning of high dimensional robot under complex environment, which avoids complicated modeling of robot and obstacles in C space. And RRT algorithm uses tree structure, which tracks between adjacent node accord with requirements of robots kinematics, dynamics and avoiding collision. Therefore, it is suitable for practical application of robots.