Path planning in large-scale indoor environment using RRT

Kaikai Zhao, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)


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 languageEnglish
Title of host publicationProceedings of the 32nd Chinese Control Conference, CCC 2013
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9789881563835
Publication statusPublished - 18 Oct 2013
Externally publishedYes
Event32nd Chinese Control Conference, CCC 2013 - Xi'an, China
Duration: 26 Jul 201328 Jul 2013


Conference32nd Chinese Control Conference, CCC 2013


  • Path planning
  • Rapidly-exploring random tree

ASJC Scopus subject areas

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


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