A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces
Résumé
The Transition-based RRT (T-RRT) is a variant of RRT developed for path planning on a continuous cost space, i.e. a configuration space featuring a continuous cost function. It has been used to solve complex, high-dimensional problems in robotics and structural biology. In this paper, we propose a multiple-tree variant of T-RRT, named Multi-T-RRT. It is especially useful to solve ordering-and-pathfinding problems, i.e. to compute a path going through several unordered waypoints. Using the Multi-T-RRT, such problems can be solved from a purely geometrical perspective, without having to use a symbolic task planner. We evaluate the Multi-T-RRT on several path planning problems and compare it to other path planners. Finally, we apply the Multi-T-RRT to a concrete industrial inspection problem involving an aerial robot.
Domaines
Robotique [cs.RO]
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iros-14.pdf (639.21 Ko)
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IROS14_0568.mp4 (9.3 Mo)
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applications.pdf (16.25 Ko)
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digest.ppt (767 Ko)
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| Origine | Fichiers produits par l'(les) auteur(s) |
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| Format | Vidéo |
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| Format | Autre |
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| Format | Autre |
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