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ABBADI, A. MATOUŠEK, R. JANČÍK, S. ROUPEC, J.
Original Title
Rapidly-Exploring Random Trees: 3D Planning
Type
conference paper
Language
English
Original Abstract
Path planning, trajectory planning and path optimizing is problematic issue in robotic domain. In this paper we use RRT algorithm (Rapidly exploring Random tree) and its variations, which are good solutions applied on path and trajectory planning area to find the path from one position to another one. We applied these algorithms in 3D dimensions, this work could be applied for finding the path for Robot arms to carry or catch objects, in obstacles environments. We developed also new algorithms for generating short path by reducing degrees of tortuous, making the path shorter and omitting useless points from the original path.
Keywords
RRT, 3D RRT, Rapidly exploring Random tree, Path Planning, path optimizing, Short path.
Authors
ABBADI, A.; MATOUŠEK, R.; JANČÍK, S.; ROUPEC, J.
RIV year
2012
Released
27. 6. 2012
Publisher
VUT
Location
Brno
ISBN
978-80-214-4540-6
Book
18th International Conference of Soft Computing, MENDEL 2012 (id 20379)
Edition
Edition number
1
1803-3814
Periodical
Mendel Journal series
Year of study
Number
State
Czech Republic
Pages from
594
Pages to
599
Pages count
6
BibTex
@inproceedings{BUT93360, author="Ahmad {Abbadi} and Radomil {Matoušek} and Stanislav {Jančík} and Jan {Roupec}", title="Rapidly-Exploring Random Trees: 3D Planning", booktitle="18th International Conference of Soft Computing, MENDEL 2012 (id 20379)", year="2012", series="2012", journal="Mendel Journal series", volume="2012", number="1", pages="594--599", publisher="VUT", address="Brno", doi="10.13140/2.1.3632.3848", isbn="978-80-214-4540-6", issn="1803-3814" }