An Adaptive Rapidly-Exploring Random Tree

doi:10.1109/JAS.2021.1004252

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	An Adaptive Rapidly-Exploring Random Tree
	Binghui Li; Badong Chen
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:2 页码:283-294
关键词	Narrow passage path planning rapidly-exploring random tree (RRT)-Connect sampling-based algorithm
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004252
英文摘要	Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning (MP) problems, in which rapidly-exploring random tree (RRT) and the faster bidirectional RRT (named RRT-Connect) algorithms have achieved good results in many planning tasks. However, sampling-based methods have the inherent defect of having difficultly in solving planning problems with narrow passages. Therefore, several algorithms have been proposed to overcome these drawbacks. As one of the improved algorithms, Rapidly-exploring random vines (RRV) can achieve better results, but it may perform worse in cluttered environments and has a certain environmental selectivity. In this paper, we present a new improved planning method based on RRT-Connect and RRV, named adaptive RRT-Connect (ARRT-Connect), which deals well with the narrow passage environments while retaining the ability of RRT algorithms to plan paths in other environments. The proposed planner is shown to be adaptable to a variety of environments and can accomplish path planning in a short time.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45990]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Binghui Li,Badong Chen. An Adaptive Rapidly-Exploring Random Tree[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(2):283-294.
APA	Binghui Li,&Badong Chen.(2022).An Adaptive Rapidly-Exploring Random Tree.IEEE/CAA Journal of Automatica Sinica,9(2),283-294.
MLA	Binghui Li,et al."An Adaptive Rapidly-Exploring Random Tree".IEEE/CAA Journal of Automatica Sinica 9.2(2022):283-294.