An obstacle-based rapidly-exploring random tree

@article{Rodrguez2006AnOR,
  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.},
  year={2006},
  pages={895-900}
}
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

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