Presentation on theme: "LaValle, Steven M. "Rapidly-Exploring Random Trees A Цew Tool for Path Planning." (1998) RRT Navigation."— Presentation transcript:
1
LaValle, Steven M. "Rapidly-Exploring Random Trees A Цew Tool for Path Planning." (1998) RRT Navigation
2
Problem Statement How can we solve complex navigation problems in continuous space? Complex: Many dimensions: X, Y, Z, theta Continuous: Avoid discretization
3
Difficulties with other approaches Discretized solutions, e.g., A-star in grid world Coarse grids don’t allow optimal plans Fine grids become complex Most previous solutions don’t do well in high dimensional spaces
4
Solution Randomly grow a tree in continuous space Root of the tree is starting location When tree touches goal region we have a solution
7
Solution Improvement: Biases Bias towards open spaces Bias towards goal – When generating a random sample, with some probability pick the goal instead of a random node when expanding – This introduces another parameter – James’experience is that 5-10% is the right choice Provides faster convergence, better path solutions
To make this website work, we log user data and share it with processors. To use this website, you must agree to our Privacy Policy, including cookie policy.
