DocumentCode :
2604250
Title :
Adaptive tuning of the sampling domain for dynamic-domain RRTs
Author :
Jaillet, Leonard ; Yershova, Anna ; La Valle, S.M. ; Simeon, Thierry
Author_Institution :
LAAS-CNRS, Toulouse, France
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
2851
Lastpage :
2856
Abstract :
Sampling based planners have become increasingly efficient in solving the problems of classical motion planning and its applications. In particular, techniques based on the rapidly-exploring random trees (RRTs) have generated highly successful single-query planners. Recently, a variant of this planner called dynamic-domain RRT was introduced by Yershova et al. (2005). It relies on a new sampling scheme that improves the performance of the RRT approach on many motion planning problems. One of the drawbacks of this method is that it introduces a new parameter that requires careful tuning. In this paper we analyze the influence of this parameter and propose a new variant of the dynamic-domain RRT, which iteratively adapts the sampling domain for the Voronoi region of each node during the search process. This allows automatic tuning of the parameter and significantly increases the robustness of the algorithm. The resulting variant of the algorithm has been tested on several path planning problems.
Keywords :
adaptive systems; computational geometry; path planning; random processes; sampled data systems; sampling methods; trees (mathematics); tuning; Voronoi region; adaptive tuning; dynamic domain; motion planning; path planning; rapidly-exploring random trees; sampling based planners; sampling domain; single-query planners; Application software; Computer science; Geometry; Iterative algorithms; Motion planning; Robots; Robustness; Sampling methods; Testing; Urban planning; Motion Planning; RRTs; Voronoi Bias;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545607
Filename :
1545607
Link To Document :
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