Detail publikace

EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS

Gulina Irina, Matousek Radomil

Originální název

EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The cost of nearest-neighbor calls is one of the bottlenecks in the performance of sampling-based motion planning algorithms and particularly Rapidly-exploring Random Trees (RRT) algorithm. Although RRT 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 suggests the enhancement of this function. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms and report on the results verifying the efficiency of the suggested nearest neighbor searching method.

Klíčová slova

sampling-based motion planning, Rapidly-exploring Random Tree, RRT, nearest-neighbor searching

Autoři

Gulina Irina, Matousek Radomil

Vydáno

8. 6. 2016

Místo

Brno

ISBN

978-80-214-5365-4

Kniha

MENDEL 2016 22nd Conference on Soft Computing

Strany od

189

Strany do

194

Strany počet

6

URL

http://www.mendel-conference.org

BibTex

@inproceedings{BUT128283,
  author="Irina {Gulina} and Radomil {Matoušek}",
  title="EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS",
  booktitle="MENDEL 2016 22nd Conference on Soft Computing",
  year="2016",
  pages="189--194",
  address="Brno",
  isbn="978-80-214-5365-4",
  url="http://www.mendel-conference.org"
}