Replanning with RRTs

被引：165

作者：

Ferguson, Dave ^{[1
]}

Kalra, Nidhi ^{[1
]}

Stentz, Anthony ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/ROBOT.2006.1641879

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a replanning algorithm for repairing Rapidly-exploring Random Trees when changes are made to the configuration space. Instead of abandoning the current RRT, our algorithm efficiently removes just the newly-invalid parts and maintains the rest. It then grows the resulting tree until a new solution is found. We use this algorithm to create a probabilistic analog to the widely-used D* family of deterministic algorithms, and demonstrate its effectiveness in a multirobot planning domain.

引用

页码：1243 / 1248

页数：6

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