Path planning in large-scale indoor environment using RRT

Kaikai Zhao; Yangmin Li

Path planning in large-scale indoor environment using RRT

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 32nd Chinese Control Conference, CCC 2013
Publisher	IEEE Computer Society
Pages	5993-5998
Number of pages	6
ISBN (Print)	9789881563835
Publication status	Published - 18 Oct 2013
Externally published	Yes
Event	32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: 26 Jul 2013 → 28 Jul 2013

Conference

Conference	32nd Chinese Control Conference, CCC 2013
Country/Territory	China
City	Xi'an
Period	26/07/13 → 28/07/13

Keywords

Path planning
Rapidly-exploring random tree

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Applied Mathematics
Modelling and Simulation

Cite this

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title = "Path planning in large-scale indoor environment using RRT",

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 = "Path planning, Rapidly-exploring random tree",

author = "Kaikai Zhao and Yangmin Li",

year = "2013",

month = oct,

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booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",

publisher = "IEEE Computer Society",

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note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",

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TY - GEN

T1 - Path planning in large-scale indoor environment using RRT

AU - Zhao, Kaikai

AU - Li, Yangmin

PY - 2013/10/18

Y1 - 2013/10/18

N2 - 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.

AB - 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.

KW - Path planning

KW - Rapidly-exploring random tree

UR - http://www.scopus.com/inward/record.url?scp=84890538217&partnerID=8YFLogxK

M3 - Conference article published in proceeding or book

SN - 9789881563835

SP - 5993

EP - 5998

BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013

PB - IEEE Computer Society

T2 - 32nd Chinese Control Conference, CCC 2013

Y2 - 26 July 2013 through 28 July 2013

ER -

Path planning in large-scale indoor environment using RRT

Abstract

Conference

Keywords

ASJC Scopus subject areas

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Cite this