Robot Navigation through Narrow Passages

Abstract

Robot navigation is a critical component of mobile robots. Robots are typically controlled autonomously, or using direct commands through keyboard, joystick, or mouse. Traditional path planners like RRT (Rapidly Exploring Random Tree) algorithm find it difficult to generate a path though narrow passages in the map. In this paper, we improve the traditional algorithm which takes a long time to find a path through the narrow passages. Our algorithm can speedup search though narrow passages. The results are evaluated in a simulation based environment.