Collision-free and dynamically feasible trajectory planning for omnidirectional mobile robots using a novel B-spline based rapidly exploring random tree
Generating a collision-free and dynamically feasible trajectory with a better clearance in a cluttered environment is still a challenge. We propose two dynamically feasible B-spline based rapidly exploring random tree (RRT) approaches, which are named DB-RRT and FMDB-RRT, to achieve path planning an...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-06-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298814211016609 |