Motion planning in challenging environments using rapidly-exploring random trees

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F13%3APU110149" target="_blank" >RIV/00216305:26210/13:PU110149 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Motion planning in challenging environments using rapidly-exploring random trees
Original language description
This paper presents an efficient approach to trajectory planning for a holonomic mobile robot moving in static challenging environments including, for example, cluttered environments and spaces with narrow passages. It is an extension of the connect version of Rapidly-exploring random trees (RRT-connect) algorithm. The main idea presented here is to store randomly sampled configuration states which can not be reached because of collision, and then set them as roots to grow other random trees. It presumes growing of many trees in different hard to reach regions of environment to find bridges between them. Both simulation and experimental results demonsrate that it reduces the complexity of the original problem and thus resulting in fast space covering and increase the probability of finding the goal state
Czech name
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Czech description
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Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
19th International Conference on Soft Computing, MENDEL 2013
ISBN
978-80-214-4755-4
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
153-160
Publisher name
Neuveden
Place of publication
Neuveden
Event location
Brno University of Technology
Event date
Jun 26, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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