Application of the Rapidly-exploring Random Trees star algorithm to automatic trajectory planning for a Non-Holonomic robot

• Taylane Santos – Universidade Federal do Recôncavo da Bahia (UFRB)
• Luã Souza – Universidade do Estado da Bahia (UNEB)
• Luiz Júnior – Universidade do Estado da Bahia (UNEB)
• Gildeberto Cardoso – Universidade do Estado da Bahia (UNEB)
• José Filho – Universidade do Estado da Bahia (UNEB)

Abstract

The incessant search for technological devices has become a very growing factor in the current scenario. The use of technology applications and daily activities can prove to justify easily that this advance is based on human needs, which in turn are so increasingly linked to the ease and precision in performing tasks that have been done inefficiently. Aiming at this, the present work seeks to develop an automated trajectory generation system based on the Rapidly-exploring Random Tree Star (RRT) planning technique, to be applied to a non-holonomic mobile robot, to to achieve results that could contribute to this development. For this purpose, the RGB camera of Kinect was used, as well as its depth sensor, to extract the characteristics of the environment and to allow the creation of the map to be used later in the algorithm of the RRT.

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