ST-FMT: A Fast Optimal Global Motion Planning for Mobile Robot

This article introduces a secure tunnel fast marching tree motion planning algorithm (ST-FMT*) to provide a secure and optimal path quickly for a mobile robot. The proposed ST-FMT* consists of preprocessing and exploring procedures, which are responsible for establishing a secure tunnel and optimizi...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 69; no. 4; pp. 3854 - 3864
Main Authors:	Wu, Zheng, Chen, Yanjie, Liang, Jinglin, He, Bingwei, Wang, Yaonan
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Collision avoidance Convergence Convergence performance fast marching tree algorithm (FMT) Heuristic algorithms Mobile robots Motion planning Optimization Planning Preprocessing Robot dynamics Robots Sampling secure tunnel Space exploration Trajectory Transportation Tunnels Voronoi graphs
ISSN:	0278-0046, 1557-9948
Online Access:	Get full text
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