Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles
Abstract
:1. Introduction
2. Rapidly Exploring Random Trees (RRT) Algorithm
3. Improved RRT Algorithm with Pruning
4. Improved RRT Algorithm with Smoothing and Optimization
5. Experimental Verification by Tracking Control
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Number of Repetitions | Success Rate (%) | Average Calculation Time (ms) |
---|---|---|
1 | 56 | 91 |
5 | 74 | 420 |
10 | 96 | 900 |
RRT Algorithm | With Pruning | With Pruning and Optimization |
---|---|---|
1043 | 776 | 583 |
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Yang, S.M.; Lin, Y.A. Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles. Sensors 2021, 21, 2244. https://doi.org/10.3390/s21062244
Yang SM, Lin YA. Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles. Sensors. 2021; 21(6):2244. https://doi.org/10.3390/s21062244
Chicago/Turabian StyleYang, S. M., and Y. A. Lin. 2021. "Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles" Sensors 21, no. 6: 2244. https://doi.org/10.3390/s21062244