Adaptive tuning of the sampling domain for dynamic-domain RRTs

Sampling based planners have become increasingly efficient in solving the problems of classical motion planning and its applications. In particular, techniques based on the Rapidly-exploring Random Trees (RRTs) have generated highly successful single-query planners. Recently, a variant of this planner called dynamic-domain RRT was introduced in [28]. It relies on a new sampling scheme that improves the performance of the RRT approach on many motion planning problems. One of the drawbacks of this method is that it introduces a new parameter that requires careful tuning. In this paper we analyze the influence of this parameter and propose a new variant of the dynamic-domain RRT, which iteratively adapts the sampling domain for the Voronoi region of each node during the search process. This allows automatic tuning of the parameter and significantly increases the robustness of the algorithm. The resulting variant of the algorithm has been tested on several path planning problems.