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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
Edition number
1
1803-3814
Periodical
Mendel Journal series
Year of study
Number
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" }