Sciweavers

Share
ICRA
2000
IEEE

RRT-Connect: An Efficient Approach to Single-Query Path Planning

9 years 3 months ago
RRT-Connect: An Efficient Approach to Single-Query Path Planning
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 chain) for the automatic graphic animation of collision-free grasping and manipulation tasks, the algorithm has been successfully applied to a variety of path planning problems. Computed examples include generating collision-free motions for rigid objects in 2D and 3D, and collision-free manipulation motions for a 6-DOF PUMA arm in a 3D workspace. Some basic theoretical analysis is also presented.
James J. Kuffner Jr., Steven M. LaValle
Added 25 Aug 2010
Updated 25 Aug 2010
Type Conference
Year 2000
Where ICRA
Authors James J. Kuffner Jr., Steven M. LaValle
Comments (0)
books