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RRT-Path: a guided Rapidly exploring Random Tree

Result description

During last decade Rapidly Exploring random trees (RRT) became widely used for solving a motion planning problem in various areas. Poor performance of these algorithms has been noticed in environments with narrow passages. Several variants have been developed to address this issue. This paper presents a new variation of the RRT designed for sampling environments with narrow passages. Performance of the proposed method has been experimentally verified and results are compared with the original RRT, RRT-Bidirectional na RRT-Blossom algorithms.

Keywords

RRTmobile roboticsmotion planning

The result's identifiers

Alternative languages

  • Result language

    angličtina

  • Original language name

    RRT-Path: a guided Rapidly exploring Random Tree

  • Original language description

    During last decade Rapidly Exploring random trees (RRT) became widely used for solving a motion planning problem in various areas. Poor performance of these algorithms has been noticed in environments with narrow passages. Several variants have been developed to address this issue. This paper presents a new variation of the RRT designed for sampling environments with narrow passages. Performance of the proposed method has been experimentally verified and results are compared with the original RRT, RRT-Bidirectional na RRT-Blossom algorithms.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

Others

  • Publication year

    2009

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Robot Motion and Control 2009

  • ISBN

    978-1-84882-984-8

  • ISSN

    0302-9743

  • e-ISSN

  • Number of pages

    10

  • Pages from-to

  • Publisher name

    Springer

  • Place of publication

    Heidelberg

  • Event location

    Czerniejewo

  • Event date

    Jun 1, 2009

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

Result type

D - Article in proceedings

D

CEP

JD - Use of computers, robotics and its application

Year of implementation

2009