Accession Number:

ADA443192

Title:

PDRRTs: Integrating Graph-Based and Cell-Based Planning

Descriptive Note:

Corporate Author:

GEORGIA INST OF TECH ATLANTA COLL OF COMPUTING

Personal Author(s):

Report Date:

2004-01-01

Pagination or Media Count:

9.0

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 parti-game 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.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE