DocumentCode
181713
Title
An approach to speed up RRT
Author
Yun-xiao Shan ; Bi-jun Li ; Jian-Zhou ; Yue-Zhang
Author_Institution
State Key Lab. of Inf. Eng. in Surveying Mapping & Remote Sensing, Wuhan Univ., Wuhan, China
fYear
2014
fDate
8-11 June 2014
Firstpage
594
Lastpage
598
Abstract
We present an improved algorithm to RRT* in this paper. Our algorithm tries to increase the efficiency by replacing the Initialtree() of RRT*with a RRT tree only contains one solution to speed up finding a feasible solution, and then applying a RRT*_S algorithm to optimize the current solution. This RRT*_S is similar with RRT* in principle, but it does not insert extra nodes into the current tree and optimizes just in fixed nodes instead of all the nearby nodes. We demonstrate the performance of this improved algorithm on two benchmark scenarios to show the effectiveness compared with RRT* and RRT.
Keywords
mobile robots; path planning; trees (mathematics); Initialtree; RRT tree; RRT*_S algorithm; motion planning; rapidly-exploring randomized tree; robotics; Benchmark testing; Convergence; Measurement; Optimization; Planning; Robots; Standards;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium Proceedings, 2014 IEEE
Conference_Location
Dearborn, MI
Type
conf
DOI
10.1109/IVS.2014.6856473
Filename
6856473
Link To Document