An efficient retraction-based RRT planner

  title={An efficient retraction-based RRT planner},
  author={Liangjun Zhang and Dinesh Manocha},
  journal={2008 IEEE International Conference on Robotics and Automation},
We present a novel optimization-based retraction algorithm to improve the performance of sample-based planners in narrow passages for 3D rigid robots. The retraction step is formulated as an optimization problem using an appropriate distance metric in the configuration space. Our algorithm computes samples near the boundary of C-obstacle using local contact… CONTINUE READING

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