Robotic Path Planning using Rapidly exploring Random Trees
نویسنده
چکیده
Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up method using KD trees and a path smoothing procedure of practical interest.
منابع مشابه
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