The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present an anytime algorithm for planning paths through high-dimensional, non-uniform cost search spaces. Our approach works by generating a series of Rapidly-exploring Random Trees (RRTs), where each tree reuses information from previous trees to improve its growth and the quality of its resulting path. We also present a number of modifications to the RRT algorithm that we use to bias the search in favor of less costly solutions. The resulting approach is able to produce an initial solution very quickly, then improve the quality of this solution while deliberation time allows. It is also able to guarantee that subsequent solutions will be better than all previous ones by a user-defined improvement bound. We demonstrate the effectiveness of the algorithm on both single robot and multirobot planning domains.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): CTA Robotics

Number of pages: 7

Text Reference

David Ferguson and Anthony (Tony) Stentz, "Anytime RRTs," Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375.

BibTeX Reference

@inproceedings{Ferguson_2006_5652,
   author = "David Ferguson and Anthony (Tony) Stentz",
   title = "Anytime RRTs",
   booktitle = "Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06)",
   pages = "5369 - 5375",
   month = "October",
   year = "2006",
}

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