Title :
Extended RRT algorithm with dynamic N-dimensional cuboid domains
Author :
Fragkopoulos, Christos ; Graeser, Axel
Author_Institution :
Inst. of Autom., Univ. of Bremen, Bremen, Germany
Abstract :
The paper presents an approach to path planning problem for manipulators operating in difficult environments with high probability of collisions. The approach improves the Rapidly exploring Random Trees (RRT) algorithm and produces a new approach with better results. It is achieved by expanding the forward and backward tree and reducing dynamically the sampling area of the free-configuration space (C-Space) by introducing a N-Dimensional cuboid regions. The place of this area could be dynamically or statically defined. The results show that this modification provides a very reasonable solution to the path planning problem applicable also to any kind of manipulators.
Keywords :
manipulators; path planning; random processes; tree searching; backward tree; dynamic N-dimensional cuboid domains; extended RRT algorithm; free configuration space; path planning problem; rapidly exploring random trees algorithm; Automation; Clustering algorithms; Electronic equipment; Heuristic algorithms; Manipulator dynamics; Orbital robotics; Path planning; Rehabilitation robotics; Sampling methods; Tree graphs; Bidirectional search; Rapidly exploring Random Trees; configuration space; manipulator; motion planning;
Conference_Titel :
Optimization of Electrical and Electronic Equipment (OPTIM), 2010 12th International Conference on
Conference_Location :
Basov
Print_ISBN :
978-1-4244-7019-8
DOI :
10.1109/OPTIM.2010.5510401