Publication detail

The RRT algorithms and a spatial index

GULINA, I. MATOUŠEK, R.

Original Title

The RRT algorithms and a spatial index

Type

conference paper

Language

English

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

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

Authors

GULINA, I.; MATOUŠEK, R.

RIV year

2014

Released

25. 6. 2014

ISBN

978-80-214-4984-8

Book

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

Edition

2014

Edition number

1

ISBN

1803-3814

Periodical

Mendel Journal series

Year of study

2014

Number

1

State

Czech Republic

Pages from

279

Pages to

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"
}