关键词: 移动机器人, 快速扩展随机树（RRT）, 自适应滚动窗口, 动态监测, 实时路径规划

Abstract: In order to solve the problem of real-time path planning for mobile robot in unknown environment, a path planning algorithm combining Rapidly-exploring Random Tree（RRT） algorithm with visual field adaptive rolling window is proposed. The method obtains local environment information in the scroll window in real time, according to the environmental change, adjusts the rolling window view, analyzing the information obtained by sensor in the scroll window, combined with the improved RRT algorithm to screen out the feasible path, controls the mobile robot arrive at the sub target point. In this process, the path is dynamically monitored to ensure a reasonable path, and repeat this process until it reaches the target area. Experiments show that the proposed method can realize real-time path planning for mobile robots effectively in unknown environments.

Key words: mobile robot, Rapidly-exploring Random Tree（RRT）, self-adaptation rolling window, dynamic monitoring, real time path planning