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"
}