Research of the Possibilities of Using a Rapidly Exploring Random Tree Algorithm in Solving Problems of Movement Planning of Autonomous Robots

Abstract

The article is devoted to the analysis of features and evaluation of the prospects for using the RRT method in the problem of motion planning for autonomous robots. It is noted that the expansion of the areas of application of modern robotics is inextricably linked with an increase in the level of functionality and improvement of the designs of the created samples, for which the placement of a manipulator on a mobile platform becomes a typical layout. Based on a review of the literature and generalization of experimental data, it is shown that the use of the RRT method and its modifications opens up the fundamental possibility of developing a universal motion planner for mobile and manipulative robots, including systems with a manipulator on a mobile platform, as well as systems with a redundant or reconfigurable structure. Based on the results of the analysis, it was found that the effectiveness of the RRT method is largely determined by the declared parameter of the growth factor. A decentralized variant of the counter-growth RRT method is proposed, which makes it possible to plan the movements of autonomous mobile robots in the process of their mutual approach and subsequent docking. The fundamental possibility of automatic docking of autonomous robots in an environment with obstacles is confirmed by the results of a full-scale experiment.