An RRT-based navigation approach for mobile robots and automated vehicles

Luis Garrote, Cristiano Premebida, Marco Silva, Urbano Nunes
2014 2014 12th IEEE International Conference on Industrial Informatics (INDIN)  
Advances in autonomous navigation, safety, and natural-landmark based localization, are among the key objectives in the development of the next generation of autonomous vehicles, to be deployed in manufacturing and semi-structured environments. In this paper, autonomous navigation and collision detection will be focused, where it is proposed a novel navigation approach that incorporates a RRT-based dynamic path planning and a path-following controller. Safety issues are taken into account in
more » ... form of a laser-based object detection and tracking. Experimental results obtained in a virtual environment provide evidence that our proposed navigation method is promising for real-world applications.
doi:10.1109/indin.2014.6945533 dblp:conf/indin/GarrotePSN14 fatcat:tz6aptyu75a2lmjargewmopeoa