RRT-connect: An efficient approach to single-query path planning
@article{Kuffner2000RRTconnectAE, title={RRT-connect: An efficient approach to single-query path planning}, author={J. Kuffner and S. 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… CONTINUE READING
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