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The Rapidly-exploring Random Tree (RRT) has been widely used to solve path planning problems and well suited to lots of problem domains for its probabilistically complete. However, it is not so rapid in changing environments, troubled with moving obstacles and difficult regions. In this paper, a variant of RRT is proposed which is called obstacle guided RRT (OG-RRT), aiming to plan a path in changing...
Replanning is a powerful tool for high dimensional mobile agents in changing environments. However, most works employ replanning periodically. In order to fully exert the merits of this powerful tool, we should concentrate on the time interval employed for each replanning (that is “when to replan”) and carry out replanning adaptively. In this paper, an adaptive strategy is proposed to govern replanning...
Although lots of planning algorithms have focused on the planning of fixed manipulators and mobile robots in moderate dynamic environments, seldom planning algorithms can be employed to deal with mobile agents in the presence of large scenario scales and unpredictable changing obstacles. Path planning for mobile robots in unpredictable environments would be an extreme challenge since computational...
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