Evaluating performance of multiple RRTs

Publication Type:
Conference Proceeding
Proceedings of the IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2008, pp. 564 - 569
Issue Date:
Full metadata record
Files in This Item:
Filename Description SizeFormat
2008001279.pdf146.13 kBAdobe PDF
This paper presents experimental results evaluating the performance of a new multiple Rapidly exploring Random Tree (RRT) algorithm. RRTs are randomised planners especially adept at solving difficult, high dimensional path planning problems. However, environments with low-connectivity due to the presence of obstacles can severely affect convergence. Multiple RRTs have been proposed as a means of addressing this issue, however, this approach can adversely affect computational efficiency. This paper introduces a new and simple method which takes advantage of the benefits path of multiple trees, whilst ensuring the computational burden of maintaining them is minimised. Results indicate that multiple RRTs are able to reduce the logarithmic complexity of the search, most notably in environments with high obstacle densities.
Please use this identifier to cite or link to this item: