RRT-Star-Connect: Faster, asymptotically optimal motion planning

Publikationstyp
Konferenz
Autor(en)
Klemm, Sebastian and Oberländer, Jan and Hermann, Andreas and Roennau, Arne and Schamm, Thomas and Zoellner, Marius and Dillmann, Ruediger
Jahr
2015
Monat
Dec
Adresse
Zhuhai, China
Buchtitel
Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on
Organisation
IEEE
Abstract
We present an efficient asymptotically-optimal randomized motion planning algorithm solving single-query path planning problems using a bidirectional search. The algorithm combines the benefits from the widely known algorithms RRT-Connect and RRT* and scores better than both by finding a solution faster than RRT*, and -unlike RRT-Connect - converging towards a theoretical optimum. We outline the proposed algorithm and proof its optimality. The efficiency and robustness is demonstrated in a number of real world applications which benefit from the bidirectional approach: planning car trajectories in a parking garage for the autonomous vehicle CoCar, generating cost-efficient trajectories for the multi-legged walking robot LAURON V in a planetary exploration scenario and performing mobile manipulation tasks for our highly actuated service robot HoLLiE. Moreover, we compare and show the improvements over "vanilla" RRT in a set of challenging benchmarks. RRT*-Connect will contribute to increase the performance of autonomous robots and vehicles due to the reduced motion planning time in complex environments.
DOI
10.1109/ROBIO.2015.7419012
Forschungsfelder
Service-Robotik und mobile Manipulation
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