Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
