Publication detail

Rapidly-Exploring Random Trees: 3D Planning

ABBADI, A. MATOUŠEK, R. JANČÍK, S. ROUPEC, J.

Czech title

RRT stromy: 3D plánování trajektorie

English title

Rapidly-Exploring Random Trees: 3D Planning

Type

conference paper

Language

en

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.

Czech abstract

Plánování cesty, trajektorie plánování a cesta optimalizace je problematická otázka v robotické oblasti. V tomto článku budeme používat RRT algoritmus ( Rychle rostoucí náhodné stromy) a jeho variace, které jsou dobré řešení použitá na cestě a trajektorie plánování oblasti najít cestu formuláře jedno místo na jiného. Použili jsme tyto algoritmy v 3D rozměru, by tato práce být použita k nalezení cesty pro robota ruce k provádění nebo chytit objekty, v překážkami prostředí. Vyvinuli jsme také nové algoritmy pro generování krátkou cestu snížením stupně klikaté, takže cesta kratší a vynecháním nepotřebné body z původní cesty.

English 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 in Czech

RRT,3D RRT, Rychle rostoucí náhodné stromy, plánování cest, optimalizace cesty,nejkratší cesty.

Keywords in English

RRT, 3D RRT, Rapidly exploring Random tree, Path Planning, path optimizing, Short path.

RIV year

2012

Released

27.06.2012

Publisher

VUT

Location

Brno

ISBN

978-80-214-4540-6

ISSN

1803-3814

Book

18th International Conference of Soft Computing, MENDEL 2012 (id 20379)

Volume

2012

Number

1

Edition number

1

Pages from–to

594–599

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",
  volume="2012",
  number="1",
  month="June",
  pages="594--599",
  publisher="VUT",
  address="Brno",
  isbn="978-80-214-4540-6",
  issn="1803-3814"
}