RRT (Rapidly-Exploring Random Trees) using Dubins curve, with collision check in MATLAB
RRT, the Rapidly-Exploring Random Trees is a ramdomized method of exploring within dimensions. This method can effectively generate a path to reach any point within certain limited steps due to its random characteristics. This method is proprosed by LaValle, Steven M. in October 1998, in his technical report to Computer Science Department of Iowa State University as "Rapidly-exploring random trees: A new tool for path planning" Today, multiple variation of RRT method is widely applied with path planning problem among UAVs for ground based, aerial, and marinetime vehicles.
In RRT_Dubins.m, the paths connecting each points, or the "edges" to the "vertices" are replaced with Dubins curve. This is a very common practice when dealing with dynamic system. Specifically for non-holonomic system, such as cars, airplanes or ships. Replacements of Dubins curve means the branches growing out of a vertex is always smooth in the sense tengency. This makes the path generated more feassibly then the original straight line connection style if taking dynamics into consideration.
For the sake of simplicity, I will discuss the algorithm only with 2-D planes. The problem is, given a starting point and limited boundary, how do we reach everypoint within the area systematically? The method itself is very simple, only repeative iteration of are 4 steps.
There are 4 main programs, see the comments in each file for more detail
Note: All plotting related function have the filename starts with plot_xxxxx_xxxx.m.
Released under GPLv3 license
Copyright (c) 2018 Ewing Kang
Dubins path generator is a MATLAB re-written from Andrew Walker's work, which was originally distributed under MIT license in C language.
See LICENSE file for more info.
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