Publication detail

The RRT algorithms and a spatial index

GULINA, I. MATOUŠEK, R.

English title

The RRT algorithms and a spatial index

Type

Paper in proceedings (conference paper)

Language

en

Original abstract

The Rapidly-exploring Random Trees algorithm (RRT), based on incremental sampling, is a popular and powerful tool for motion planning problems. Although the RRT algorithm returns the solution relatively quickly, the computational cost of every new algorithm loop increases as the tree grows because of the nearest neighbor searching procedure. This paper solves this problem and improves the RRT performance using a spatial index. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms with and without a spatial index. We report on the results verifying the efficiency of the use of a spatial index

Keywords in English

Motion planning, Rapidly-exploring random trees algorithm, spatial index

Released

2014-06-25

ISBN

978-80-214-4984-8

ISSN

1803-3814

Book

20th International Conference on Soft Computing, MENDEL 2014 (id 22122)

Volume

2014

Number

1

Pages from–to

279–284

Pages count

6

BIBTEX


@inproceedings{BUT108987,
  author="Irina {Gulina} and Radomil {Matoušek}",
  title="The RRT algorithms and a spatial index",
  booktitle="20th International Conference on Soft Computing, MENDEL 2014 (id 22122)",
  year="2014",
  series="2014",
  journal="Mendel Journal series",
  volume="2014",
  number="1",
  pages="279--284",
  isbn="978-80-214-4984-8",
  issn="1803-3814"
}