Approaches for Heuristically Biasing RRT Growth

Christopher Urmson and Reid Simmons
Conference Paper, IEEE/RSJ IROS 2003, October, 2003

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Abstract

This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm. The fundamental idea is to utilize a heuristic quality function to guide the search. Results from a relevant simulation experiment illustrate the benefit and drawbacks of the developed algorithms. The paper concludes with several promising directions for future research.


@conference{Urmson-2003-8792,
author = {Christopher Urmson and Reid Simmons},
title = {Approaches for Heuristically Biasing RRT Growth},
booktitle = {IEEE/RSJ IROS 2003},
year = {2003},
month = {October},
keywords = {Randomized Planning, RRT, path planning},
} 2017-09-13T10:44:25-04:00