An obstacle-based rapidly-exploring random tree

  title={An obstacle-based rapidly-exploring random tree},
  author={Samuel Rodr{\'i}guez and Xinyu Tang and Jyh-Ming Lien and Nancy M. Amato},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space information can be used when deciding which direction to grow. The method includes many ways to grow the tree, some taking into account the obstacles… CONTINUE READING

11 Figures & Tables



Citations per Year

101 Citations

Semantic Scholar estimates that this publication has 101 citations based on the available data.

See our FAQ for additional information.