An Enhanced Navigation Algorithm with an Adaptive Controller for Wheeled Mobile Robot Based on Bidirectional RRT

An Enhanced Navigation Algorithm with an Adaptive Controller for Wheeled Mobile Robot Based on Bidirectional RRT

A navigation algorithm providing motion planning for two-wheeled mobile robots is proposed in this paper. The motion planning integrates path planning, velocity planning and controller design. Bidirectional rapidly-exploring random trees algorithms (RRT) with path pruning and smoothing mechanism are...

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Bibliographic Details
Main Authors: Bing-Gang Jhong, Mei-Yung Chen
Format: Article
Language:English
Published: MDPI AG 2022-10-01
Series:Actuators
Subjects:
two-wheeled mobile robot
path planning
bidirectional RRT
trapezoidal velocity profile
Lyapunov theory
autonomous navigation
Online Access:https://www.mdpi.com/2076-0825/11/10/303

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https://www.mdpi.com/2076-0825/11/10/303

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