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João Pedro B. Ferreira
Programa de Pós-Graduação em Engenharia Eletrônica, Departamento de Engenharia Eletrônica e de Telecomunicações, Universidade do Estado do Rio de Janeiro, RJ
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Renan P. Vieira
Programa de Pós-Graduação em Engenharia Eletrônica, Departamento de Engenharia Eletrônica e de Telecomunicações, Universidade do Estado do Rio de Janeiro, RJ
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Téo C. Revoredo, IEEE Member
Departamento de Engenharia Eletrônica e de Telecomunicações, Universidade do Estado do Rio de Janeiro, RJ
Keywords:
Path planning, Predictive Control, Rapidly-exploring random tree
Abstract
Navigation by autonomous robots is an application of robotics that can revolutionize society. In situations where the map of the space to be navigated is known, some probabilistic and iterative algorithms can be used to generate paths. Rapidly-exploring random tree algorithms are effective even for robots with multiple degrees of freedom. This article uses and compares two rapidly-exploring random tree algorithms for path generation. Following these paths is performed by a non-linear predictive controller. The results indicate that it is possible to plan and execute a route, using the proposed methods, that takes an autonomous vehicle from the initial to the final position, avoiding any obstacles along the way.
