• DocumentCode
    399278
  • Title

    Approaches for heuristically biasing RRT growth

  • Author

    Urmson, Chris ; Simmons, Reid

  • Author_Institution
    Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
  • Volume
    2
  • fYear
    2003
  • fDate
    27-31 Oct. 2003
  • Firstpage
    1178
  • 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.
  • Keywords
    mobile robots; path planning; tree searching; heuristic quality function; rapidly-exploring random tree search algorithm; search guide; Convergence; Cost function; Helicopters; Mobile robots; Orbital robotics; Probability distribution; Space exploration; USA Councils;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
  • Print_ISBN
    0-7803-7860-1
  • Type

    conf

  • DOI
    10.1109/IROS.2003.1248805
  • Filename
    1248805
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=399278