TY - GEN
T1 - Steps toward derandomizing RRTs
AU - Lindemann, Stephen R.
AU - Lavalle, Steven M.
PY - 2004
Y1 - 2004
N2 - We present two new motion planning algorithms, based on the Rapidly Exploring Random Tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs; this is a very challenging problem due to the way randomization is used in RRTs. In RRTs, randomization is used to create Voronoi bias, which causes the search trees to rapidly explore the state space. Our algorithms take steps to increase the Voronoi bias and to retain this property without the use of randomization. Studying these and related algorithms will improve our understanding of how efficient exploration can be accomplished, and will hopefully lead to improved planners. We give experimental results that illustrate how the new algorithms explore the state space and how they compare with existing RRT algorithms.
AB - We present two new motion planning algorithms, based on the Rapidly Exploring Random Tree (RRT) family of algorithms. These algorithms represent the first work in the direction of derandomizing RRTs; this is a very challenging problem due to the way randomization is used in RRTs. In RRTs, randomization is used to create Voronoi bias, which causes the search trees to rapidly explore the state space. Our algorithms take steps to increase the Voronoi bias and to retain this property without the use of randomization. Studying these and related algorithms will improve our understanding of how efficient exploration can be accomplished, and will hopefully lead to improved planners. We give experimental results that illustrate how the new algorithms explore the state space and how they compare with existing RRT algorithms.
UR - http://www.scopus.com/inward/record.url?scp=14544267595&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=14544267595&partnerID=8YFLogxK
U2 - 10.1109/romoco.2004.240739
DO - 10.1109/romoco.2004.240739
M3 - Conference contribution
AN - SCOPUS:14544267595
SN - 8371432720
SN - 9788371432729
T3 - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04
SP - 271
EP - 277
BT - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04
PB - Wydawnictwo Politechniki Poznanskiej
T2 - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04
Y2 - 17 June 2004 through 20 June 2004
ER -