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Questions tagged [rrt]

Rapidly-exploring Random Trees is an algorithm for performing motion planning

1
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1answer
41 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
0
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1answer
26 views

Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
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2answers
103 views

How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
0
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1answer
139 views

How to plan path for robotic arm with RRT?

I have written simple RRT planner however I am not sure how to apply it to a robotic arm path planning. The issue is that of analytical solution absence to inverse kinematics problem. Let me explain. ...
1
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0answers
40 views

How to include a space and robot geometry with OMPL

Let us assume that I am able to create a 3D map (octree) based on information gathered by a Lidar and/or a camera on a quadrotor. Now based on the current 3D representation of the world, I want to go ...
0
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1answer
149 views

Do the distance function and steering function in an RRT have to be related?

I am developing an RRT (rapidly exploring random tree) for car-like robots in SE2 space using Dubins steering function and have a question that has implications on the performance of RRTs. In order ...
0
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1answer
195 views

How to make RRT to work for dynamic systems?

I want to make path planning algorithm for a quadrotor with RRT in my thesis. I have searched lots of articles and come up with the concept of "dynamic RTT" and one of the articles has a title "...
2
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2answers
310 views

why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...
5
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1answer
99 views

How is homotopy used in planning algorithms?

What is an intuitive understanding for homotopy? At what stage is homotopy (I understand it as stretching or bending of path) in a planning algorithm? Is homotopy involved, for example, while ...
1
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1answer
63 views

BiRRT: Getting path from an array of 7 DOF angle configurations

I've kind of finished implementing a BiRRT for a 7 DOF arm, using a KD-tree from numpy.spatial in order to get nearest queries. A picture is below: I'm currently having trouble with the fact that it ...
13
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2answers
565 views

Does RRT* guarantee asymptotic optimality for a minimum clearance cost metric?

The optimal sampling-based motion planning algorithm $\text{RRT}^*$ (described in this paper) has been shown to yield collision-free paths which converge to the optimal path as planning time increases....
14
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2answers
593 views

Nearest-neighbor data structure for non-Euclidean configuration space

I'm trying to implement a nearest-neighbor structure for use in an RRT motion planner. In order to do better than a linear brute-force nearest-neighbor search, I'd like to implement something like a ...