Přístupnostní navigace
E-přihláška
Vyhledávání Vyhledat Zavřít
Detail publikace
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
Číslo edice
1
ISSN
1803-3814
Periodikum
Mendel Journal series
Ročník
Číslo
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" }