Evaluating performance of multiple RRTs

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dc.contributor.author Clifton, M
dc.contributor.author Paul, G
dc.contributor.author Kwok, N
dc.contributor.author Liu, D
dc.contributor.editor IEEE
dc.date.accessioned 2010-07-15T07:28:39Z
dc.date.issued 2008-01
dc.identifier.citation Proceedings of the IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2008, pp. 564 - 569
dc.identifier.isbn 978-1-4244-2367-5
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/12915
dc.description.abstract 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.
dc.publisher IEEE
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon 10.1109/MESA.2008.4735749
dc.title Evaluating performance of multiple RRTs
dc.type Conference Proceeding
dc.parent Proceedings of the IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 564 en_US
dc.identifier.endpage 569 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference American Society of Mechanical Engineering
dc.for 0913 Mechanical Engineering
dc.for 0905 Civil Engineering
dc.personcode 000350
dc.personcode 995424
dc.personcode 101395
dc.personcode 10660773
dc.percentage 50 en_US
dc.classification.name Civil Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom American Society of Mechanical Engineering en_US
dc.date.activity 20081012 en_US
dc.date.activity 2008-10-12
dc.location.activity Beijing, China en_US
dc.description.keywords NA en_US
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Business
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
utslib.collection.history General (ID: 2)


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