Publication detail
EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS
Gulina Irina, Matousek Radomil
English title
EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS
Type
conference paper
Language
en
Original abstract
The cost of nearest-neighbor calls is one of the bottlenecks in the performance of sampling-based motion planning algorithms and particularly Rapidly-exploring Random Trees (RRT) algorithm. Although RRT 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 suggests the enhancement of this function. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms and report on the results verifying the efficiency of the suggested nearest neighbor searching method.
English abstract
The cost of nearest-neighbor calls is one of the bottlenecks in the performance of sampling-based motion planning algorithms and particularly Rapidly-exploring Random Trees (RRT) algorithm. Although RRT 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 suggests the enhancement of this function. Through a series of simulation experiments we evaluate and compare the performance of RRT-based algorithms and report on the results verifying the efficiency of the suggested nearest neighbor searching method.
Keywords in English
sampling-based motion planning, Rapidly-exploring Random Tree, RRT, nearest-neighbor searching
Released
08.06.2016
Location
Brno
ISBN
978-80-214-5365-4
Book
MENDEL 2016 22nd Conference on Soft Computing
Pages from–to
189–194
Pages count
6
BIBTEX
@inproceedings{BUT128283,
author="Irina {Gulina} and Radomil {Matoušek},
title="EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS",
booktitle="MENDEL 2016 22nd Conference on Soft Computing",
year="2016",
month="June",
pages="189--194",
address="Brno",
isbn="978-80-214-5365-4"
}