• Corpus ID: 14744621

Rapidly-exploring random trees : a new tool for path planning

@article{LaValle1998RapidlyexploringRT,
  title={Rapidly-exploring random trees : a new tool for path planning},
  author={Steven M. LaValle},
  journal={The annual research report},
  year={1998}
}
  • S. LaValle
  • Published 1998
  • Mathematics
  • The annual research report
We introduce the concept of a Rapidly-exploring Random Tree (RRT) as a randomized data structure that is designed for a broad class of path planning problems. While they share many of the bene cial properties of existing randomized planning techniques, RRTs are specifically designed to handle nonholonomic constraints (including dynamics) and high degrees of freedom. An RRT is iteratively expanded by applying control inputs that drive the system slightly toward randomly-selected points, as… 
Extension of the Rapidly Exploring Random Tree Algorithm with Key Configurations for Nonholonomic Motion Planning
TLDR
A method to use key configurations in the RRT method, a randomized path planning method specifically designed for robots with nonholonomic constraints, to solve special, more involved problems.
Robotic path planning using rapidly-exploring random trees
TLDR
A path pruning method has been proposed to address the issue of planned path length and improve the overall performance of the RRTs and has been proven to reduce paths lengths while preserving the aforementioned advantages of RRT.
Transition-based RRT for path planning in continuous cost spaces
TLDR
This paper presents a new method called Transition-based RRT (T-RRT) for path planning in continuous cost spaces that combines the exploration strength of the RRT algorithm with the efficiency of stochastic optimization methods that use transition tests to accept or to reject a new potential state.
Robot path planning using improved rapidly-exploring random tree algorithm
TLDR
An improved RRT algorithm is proposed, called RRT-Rectangular, which is suited for path planning problems on the two-dimensional plane that involve static obstacles and the larger the number of obstacles, the shorter the length of the path planned by the improved R RT algorithm.
Triple RRTs: An Effective Method for Path Planning in Narrow Passages
TLDR
A novel two-stage approach to address the problem of multi-d.o.f. robot path planning in high-dimensional configuration space with narrow corridors that keeps a fine balance between global heuristics and local connection, resulting in high performance over the previous RRTs-based path planning methods.
A multi-RRTs framework for robot path planning in high-dimensional configuration space with narrow passages
  • Wei Wang, Yan Li
  • Computer Science
    2009 International Conference on Mechatronics and Automation
  • 2009
TLDR
A novel Multi-RRTs framework is presented to rapidly capture the connectivity of narrow passages formed by nearby obstacles and is shown to be more effective, and experimental results demonstrate the validity of the method.
Randomized kinodynamic planning
  • S. LaValle, J. Kuffner
  • Mathematics
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Systematic Literature Review of Sampling Process in Rapidly-Exploring Random Trees
TLDR
The aim of this paper is to structure a review process to deal with the massive volume of works on this subject, by presenting the planning, development, and results of a systematic literature review (SLR) to investigate non-uniform/informed sampling solutions applied to RRT-based algorithms on path planning literature.
RRT-connect: An efficient approach to single-query path planning
  • J. Kuffner, S. LaValle
  • Computer Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
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
Robotic path planning using rapidly exploring random trees
Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest
...
1
2
3
4
5
...

References

SHOWING 1-5 OF 5 REFERENCES
Randomized kinodynamic planning
  • S. LaValle, J. Kuffner
  • Mathematics
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
TLDR
A state-space perspective on the kinodynamic planning problem is presented, and a randomized path planning technique that computes collision-free kinodynamic trajectories for high degree-of-freedom problems is introduced.
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
TLDR
Experimental results show that the proposed roadmap method can eeciently solve problems which are beyond the capabilities of other existing methods.
A randomized roadmap method for path and manipulation planning
  • N. Amato, Yan Wu
  • Computer Science
    Proceedings of IEEE International Conference on Robotics and Automation
  • 1996
This paper presents a new randomized roadmap method for motion planning for many DOF robots that can be used to obtain high quality roadmaps even when C-space is crowded. The main novelty in the
Robot Motion Planning: A Distributed Representation Approach
We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A
Guidelines in nonholonomic motion planning for mobile robots