Publication detail
The RRT algorithms and a spatial index
GULINA, I. MATOUŠEK, R.
Czech title
RRT algoritmus a prostorový index
English title
The RRT algorithms and a spatial index
Type
conference paper
Language
en
Original abstract
The Rapidly-exploring Random Trees algorithm (RRT), based on incremental sampling, is a popular and powerful tool for motion planning problems. Although the RRT algorithm returns the solution relatively quickly, the computational cost of every new algorithm loop increases as the tree grows because of the nearest neighbor searching procedure. This paper solves this problem and improves the RRT performance using a spatial index. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms with and without a spatial index. We report on the results verifying the efficiency of the use of a spatial index
Czech abstract
Algoritmus RRT (Rapidly-exploring Random Trees) patatří k populárním algoritmům pro plánování cest. Přesto, že k výhodám tohoto algoritmu patří dobře definovatelná časová náročnost, řešení mnoha problémů znamená velký počet výpočetních běhů a tedy delší čas výpočtu. Článek popisuje přístup založený na tzv. prostorovém indexu (spatial index) s jehož využitím lze podstatně redukovat vliv velikosti vstupní nožiny uzlů na dobu výpočtu. V článku je prezentovaná empiricky uvedená asymptotická složitost výpočtu pro RRT bez a s využitim spatial indexování.
English abstract
The Rapidly-exploring Random Trees algorithm (RRT), based on incremental sampling, is a popular and powerful tool for motion planning problems. Although the RRT algorithm returns the solution relatively quickly, the computational cost of every new algorithm loop increases as the tree grows because of the nearest neighbor searching procedure. This paper solves this problem and improves the RRT performance using a spatial index. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms with and without a spatial index. We report on the results verifying the efficiency of the use of a spatial index
Keywords in Czech
plánování pohybu, RRT, prostorový index
Keywords in English
Motion planning, Rapidly-exploring random trees algorithm, spatial index
RIV year
2014
Released
25.06.2014
ISBN
978-80-214-4984-8
ISSN
1803-3814
Book
20th International Conference on Soft Computing, MENDEL 2014 (id 22122)
Volume
2014
Number
1
Edition number
1
Pages from–to
279–284
Pages count
6
BIBTEX
@inproceedings{BUT108987,
author="Irina {Gulina} and Radomil {Matoušek},
title="The RRT algorithms and a spatial index",
booktitle="20th International Conference on Soft Computing, MENDEL 2014 (id 22122)",
year="2014",
volume="2014",
number="1",
month="June",
pages="279--284",
isbn="978-80-214-4984-8",
issn="1803-3814"
}