Route planning of mobile robot based on improved RRT star and TEB algorithm

Route planning of mobile robot based on improved RRT star and TEB algorithm

Abstract This paper presents a fusion algorithm based on the enhanced RRT* TEB algorithm. The enhanced RRT* algorithm is utilized for generating an optimal global path. Firstly, proposing an adaptive sampling function and extending node bias to accelerate global path generation and mitigate local op...

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Bibliographic Details
Main Authors: Xiong Yin, Wentao Dong, Xiaoming Wang, Yongxiang Yu, Daojin Yao
Format: Article
Language:English
Published: Nature Portfolio 2024-04-01
Series:Scientific Reports
Subjects:
RRT* algorithm
TEB algorithm
Path planning
AGV
Kinematic
Online Access:https://doi.org/10.1038/s41598-024-59413-9

Internet

https://doi.org/10.1038/s41598-024-59413-9

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