RRT-connect: An efficient approach to single-query path planning
@article{Kuffner2000RRTconnectAE,
title={RRT-connect: An efficient approach to single-query path planning},
author={James J. Kuffner and Steven M. LaValle},
journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
year={2000},
volume={2},
pages={995-1001 vol.2}
}A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two rapidly-exploring random trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through, the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic…
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