Adaptive tuning of the sampling domain for dynamic-domain RRTs

Léonard Jaillet, Anna Yershova, Steven M. Lavalle, Thierry Siméon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages2851-2856
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Motion planning
  • RRTs
  • Voronoi bias

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Jaillet, L., Yershova, A., Lavalle, S. M., & Siméon, T. (2005). Adaptive tuning of the sampling domain for dynamic-domain RRTs. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2851-2856). [1545607] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545607