Path planning in large-scale indoor environment using RRT

Author

Zhao Kaikai ; Li Yangmin

Author_Institution

Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China

fYear

2013

Firstpage

5993

Lastpage

5998

Abstract

This paper addresses the problem of implementing Rapidly-exploring Random Tree (RRT) in a large-scale indoor environment. The details of environment modeling based on real indoor metric map are described, thereafter a novel method is used to construct a topological map. A series of tests indicate that RRT planner using this topological map can efficiently search for appropriate path by reducing the search space size.

Keywords

indoor environment; large-scale systems; path planning; random processes; trees (mathematics); RRT planner; environment modeling; large-scale indoor environment; path planning; rapidly-exploring random tree; real indoor metric map; search space size reduction; topological map; Educational institutions; Image edge detection; Image segmentation; Indoor environments; Measurement; Noise; Path planning; Path planning; Rapidly-exploring random tree;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640487

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1726848