2015
DOI: 10.1109/tie.2014.2345351
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Kinodynamic Planner Dual-Tree RRT (DT-RRT) for Two-Wheeled Mobile Robots Using the Rapidly Exploring Random Tree

Abstract: We propose a new trajectory generation scheme called dual-tree rapidly exploring random tree (DT-RRT), which is designed on the basis of a rapidly exploring random tree (RRT) method. The DT-RRT is suitable for high-speed navigation of a two-wheeled differential mobile robot. The proposed dual tree is composed of a workspace tree and a state tree. The workspace tree finds near sets in the target workspace without considering robot kinematics. Robot trajectories are generated by the extension of the state tree u… Show more

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Cited by 127 publications
(50 citation statements)
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“…Moon et al [39] presented a kinodynamic variant of RRT* called Dual-Tree RRT (DT-RRT). DT-RRT manages two trees called state tree and workspace tree.…”
Section: Non-holonomic and Kinodynamic Rrt* Approachesmentioning
confidence: 99%
See 3 more Smart Citations
“…Moon et al [39] presented a kinodynamic variant of RRT* called Dual-Tree RRT (DT-RRT). DT-RRT manages two trees called state tree and workspace tree.…”
Section: Non-holonomic and Kinodynamic Rrt* Approachesmentioning
confidence: 99%
“…It also offers reconnect-tree scheme in contrast to rewire operation of RRT* [7]. The reconnect-tree scheme [39] maintains child nodes with reduced computational cost, in order to guarantee asymptotic optimality. The dual tree scheme of DT-RRT [39] …”
Section: Non-holonomic and Kinodynamic Rrt* Approachesmentioning
confidence: 99%
See 2 more Smart Citations
“…Their non-learning-based neural dynamics methodology is extended to unknown workspace by simultaneous navigation and mapping [5]. Most recently, Moon and Chung [6] proposed a dual-tree rapidly exploring random tree approach for motion planning of a two-wheeled differential mobile robot, which fits in high-speed navigation.…”
Section: Introductionmentioning
confidence: 99%