RRT-connect: an efficient approach to single-query path planning

James J. Kuffner, Steven M Lavalle

Research output: Contribution to journalConference articlepeer-review


A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two Rapidly-exploring Random Trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic chain) for the automatic graphic animation of collision-free grasping and manipulation tasks, the algorithm has been successfully applied to a variety of path planning problems. Computed examples include generating collision-free motions for rigid objects in 2D and 3D, and collision-free manipulation motions for a 6-DOF PUMA arm in a 3D workspace. Some basic theoretical analysis is also presented.

Original languageEnglish (US)
Pages (from-to)995-1001
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 3 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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