3.5. Static environment experiment

Using the I-RRT\* algorithm for mobile robot path planning, we choose a random target on the map and set the position and posture in Figure 13. I-RRT\* algorithm can generate a barrier-free path, as shown in the green feed, where the trajectory planning algorithm.

Figures show the I-RRT\* dynamic planning process, which is real-time planning. I-RRT\* algorithm programming device receives the message, if there are new obstacles, in order to avoid obstacles, I-RRT\* real-time planning. In this picture perceived color area for mobile robot around obstacles of information, the green line is the initial path planning, the red line for realtime planning path. As a result, the algorithm can be applied to the dynamic environment of the path planning problem.
