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Cybernetics and programming

Planning of the mobile robot trajectory using a gradient of a function of investigations of the configuration regions of space

Pykhtin Pavel Sergeevich

graduate student, Volgograd State Technical University

400005, Russia, Volgograd, pr. Lenina,28.

Kamaev Valerii Anatol'evich

Doctor of Technical Science

Volgogradskii Gosudarstvennyi Tekhnicheskii Universitet. 400005, Volgograd, pr. Lenina,28

Kryzhanovskii Anatolii Ivanovich

Volgogradskii Gosudarstvennyi Tekhnicheskii Universitet. 400005, Volgograd, pr. Lenina,28.

Niklyaev Il'ya Yur'evich

Volgogradskii Gosudarstvennyi Tekhnicheskii Universitet. 400005, Volgograd, pr. Lenina,28.

Pykhtin Pavel Sergeevich

Volgogradskii Gosudarstvennyi Tekhnicheskii Universitet




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Abstract: The article proposes an algorithm for constructing the trajectory of motion of a mobile robot using quality assessment studies of various regions of space configuration (GIRRT). The described algorithm is based on the RRT algorithm and can significantly increase the effectiveness of the latter to meet the challenges in the search for ways of spaces containing a large number of narrow passages. The quality of research space configurations at a particular point in this paper refers to a numerical measure of the likelihood of building a successful trajectory connecting RRT tree and this configuration. A comparison of the proposed GIRRT algorithm and the classical RRT algorithm is given. A series of simulation way-finding experiments was held. While solving the task of finding ways in area with few obstacles, the GIRRT algorithm shows performance close to that of the RRT algorithm. In turn, when finding a way to the loosely coupled spaces (the space where there are areas for which the number of reachable configurations do not belong to the region itself, is small), the GIRRT algorithm demonstrates significantly better performance.

Keywords: mobile robots, planning movements, RRT, path finding, space of configurations, quality study, Motion Planning, Narrow Passages, robotics, algorithms
This article written in Russian. You can find full text of article in Russian here .

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