A Selective Retraction-Based RRT Planner for Various Environments


We present a novel randomized path planner for rigid robots to efficiently handle various environments that have different characteristics. We first present a bridge line test that can identify narrow passage regions and then selectively performs an optimization-based retraction only at those regions. We also propose a noncolliding line test, which is a… (More)
DOI: 10.1109/TRO.2014.2309836


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Citations per Year

Citation Velocity: 8

Averaging 8 citations per year over the last 3 years.

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