RRT planner for the binpicking problem

In this paper, we analyse a modification of the RRT algorithm introduced in [6], for an efficient pathplanning in a binpicking scenario. The new RRT variation will be called RRT-Binpicking or RRTB. We also give a necessary condition when RRTB will perform better than the classical RRT. We discuss the importance of joint weights in the configuration space in RRTB. A collinear-path purging technique is presented for RRTB. We also propose a method for direct path collision check that is faster than a linear discrete collision check and provide benchmark for the proposed method. To back our theoretical analysis, we give experimental data that compares RRTB with RRT (and some other known planners) in a binpicking scenario.