TY - GEN
T1 - An obstacle-based rapidly-exploring random tree
AU - Rodríguez, Samuel
AU - Tang, Xinyu
AU - Lien, Jyh Ming
AU - Amato, Nancy M.
PY - 2006
Y1 - 2006
N2 - Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space information can be used when deciding which direction to grow. The method includes many ways to grow the tree, some taking into account the obstacles in the environment. This planner works best in difficult areas when planning for free flying rigid or articulated robots. Indeed, whereas the standard RRT can face difficulties planning in a narrow passage, the tree based planner presented here works best in these areas.
AB - Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space information can be used when deciding which direction to grow. The method includes many ways to grow the tree, some taking into account the obstacles in the environment. This planner works best in difficult areas when planning for free flying rigid or articulated robots. Indeed, whereas the standard RRT can face difficulties planning in a narrow passage, the tree based planner presented here works best in these areas.
UR - http://www.scopus.com/inward/record.url?scp=33845643186&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845643186&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641823
DO - 10.1109/ROBOT.2006.1641823
M3 - Conference contribution
AN - SCOPUS:33845643186
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 895
EP - 900
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -