A simple and eficient randomized algorithm is presented for solving single-query path planning problems an high-dimensional configuration spaces. The method works by incrementally building two Rapidly-exploring Random Bees (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 3 0 , and collision-free manipulation motions for a 6-DOF PUMA arm in a 3 0 workspace. Some basic theoretical analysis is also presented.
In REF , a variation to rrt was developed that biases the growth of two trees initiated from the start and the goal configurations toward each other for faster solution of a particular query.
RRT-connect: An efficient approach to single-query path planning
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
Computer Science