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Communication Dans Un Congrès Année : 2009

RSRT: Rapidly Exploring Sorted Random Tree

Résumé

We present a new algorithm, named RSRT, for Rapidly-exploring Random Trees (RRT) based on inherent relations analysis between RRT components. RRT algorithms are designed to consider interactions between these inherent components. We explain properties of known variations and we present some future once which are required to deal with dynamic strategies. We present experimental results for a wide set of path planning problems involving a free flying object in a static environment. The results show that our RSRT algorithm (where RSRT stands for Rapidly-exploring Sorted Random Trees) is faster than existing ones. This results can also stand as a starting point of a motion planning benchmark instances which would make easier further comparative studies of path planning algorithms.
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Dates et versions

hal-02310185 , version 1 (09-10-2019)

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  • HAL Id : hal-02310185 , version 1

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Nicolas Jouandeau. RSRT: Rapidly Exploring Sorted Random Tree. 4th International Conference on Informatics in Control, Automation and Robotics,, May 2009, Angers, France. ⟨hal-02310185⟩
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