Detail publikace

The RRT algorithms and a spatial index

GULINA, I. MATOUŠEK, R.

Originální název

The RRT algorithms and a spatial index

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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

Klíčová slova

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

Autoři

GULINA, I.; MATOUŠEK, R.

Rok RIV

2014

Vydáno

25. 6. 2014

ISBN

978-80-214-4984-8

Kniha

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

Edice

2014

Číslo edice

1

ISSN

1803-3814

Periodikum

Mendel Journal series

Ročník

2014

Číslo

1

Stát

Česká republika

Strany od

279

Strany do

284

Strany počet

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"
}