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Published in:
2009 | OriginalPaper | Chapter
RRT-path – A Guided Rapidly Exploring Random Tree
Authors : Vojtěch Vonásek, Jan Faigl, Tomáš Krajník, Libor Přeučil
Published in: Robot Motion and Control 2009
Publisher: Springer London
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Motion planning is one of the most studied problems in robotics. Various methods for solving this problem have been introduced in the last two decades. Applications beyond robotics including 3D object manipulation, computational biology, computational graphics, or drug folding are presented in [10].
During the last decade the RRT algorithm [11] has become widely used for solving the motion planning problem. The algorithm is based on random sampling of a configuration space. The sampled configurations are connected to a tree structure in which the result path can be found. The algorithm can be divided into three main parts: selection of a vertex for expansion, expansion and terminating condition. The original RRT algorithm is outlined in Algorithm 28.1.