Title:
PDRRTs: Integrating Graph-Based and Cell-Based Planning
PDRRTs: Integrating Graph-Based and Cell-Based Planning
| dc.contributor.author | Ranganathan, Ananth | |
| dc.contributor.author | Koenig, Sven | |
| dc.date.accessioned | 2004-07-27T20:22:32Z | |
| dc.date.available | 2004-07-27T20:22:32Z | |
| dc.date.issued | 2004 | |
| dc.description.abstract | Motion-planning problems can be solved by discretizing the continuous configuration space, for example with graph-based or cell-based techniques. We study rapidly exploring random trees (RRTs) as an example of graph-based techniques and the parti-game method as an example of cell-based techniques. We then propose partigame directed RRTs (PDRRTs) as a novel technique that combines them. PDRRTs are based on the parti-game method but use RRTs as local controllers rather than the simplistic controllers used by the parti-game method. Our experimental results show that PDRRTs plan faster and solve more motion-planning problems than RRTs and plan faster and with less memory than the parti-game method. | en |
| dc.format.extent | 727300 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1853/59 | |
| dc.language.iso | en | |
| dc.publisher | Georgia Institute of Technology | en |
| dc.relation.ispartofseries | GVU Technical Report;GIT-GVU-04-10 | |
| dc.subject | Motion planning | en |
| dc.subject | Sample-based | en |
| dc.subject | Cell-based | en |
| dc.subject | Parti-game | en |
| dc.subject | RRT | en |
| dc.title | PDRRTs: Integrating Graph-Based and Cell-Based Planning | en |
| dc.type | Text | |
| dc.type.genre | Technical Report | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | GVU Center | |
| local.relation.ispartofseries | GVU Technical Report Series | |
| relation.isOrgUnitOfPublication | d5666874-cf8d-45f6-8017-3781c955500f | |
| relation.isSeriesOfPublication | a13d1649-8f8b-4a59-9dec-d602fa26bc32 |