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Augmenting RRT-Planners with local trees
KTH, Superseded Departments, Signals, Sensors and Systems.
2004 (English)In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, 3258-3262 p.Conference paper, Published paper (Refereed)
Abstract [en]

During the last few years, Rapidly-exploring Random Trees, RRTs, has been recognized as a very useful tool for designing efficient single-shot path planners. Another benefit is that RRTs can easily handle planning problems involving non-holonomic systems. However, it has also been noted that the narrow passage problem can become even more severe compared to other randomized methods. To reduce that problem, we suggest to augment RRT-planners with local trees. Furthermore, using local trees, the planner is able to explore several difficult regions in parallel. Something that has proved to be very effective for problems where the solution trajectory repeatedly has to pass difficult regions. We present powerful heuristics for when to create such trees and how often they should be allowed to grow, such that the RRT-planner will improve its qualities as an efficient single-shot path planner. The resulting algorithm, RRTLocTrees, is implemented in a newly developed object-oriented. framework for path planning and tested on four different path planning problems, with excellent results.

Place, publisher, year, edition, pages
2004. 3258-3262 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-44353DOI: 10.1109/ROBOT.2004.1308756ISI: 000221794800524Scopus ID: 2-s2.0-3042599057ISBN: 0-7803-8232-3 (print)OAI: oai:DiVA.org:kth-44353DiVA: diva2:450909
Conference
IEEE International Conference on Robotics and Automation Location: New Orleans, LA Date: APR 26-MAY 01, 2004
Note
QC 20111024Available from: 2011-10-24 Created: 2011-10-20 Last updated: 2011-10-24Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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