2024/11/01 by Mathew Mithra Noel, Noel, Mathew Mithra, Akshay Chawla +1
Computer Science · #FOS: Computer and information sciences #FOS: Electrical engineering #I.2.9 #Mobile Ad Hoc Networks #Mobile Agent-Based Network Management #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2411.00357
openalex publication_date 2024/11/01 · openalex created_date 2024/11/14 · openalex updated_date 2026/07/28
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence in configuration spaces with narrow channels because of the small probability of generating test points inside narrow channels. This paper presents an improved RRT algorithm that takes advantage of narrow channels between the initial and goal states to find shorter paths by improving the exploration of narrow regions in the configuration space. The proposed algorithm detects the presence of narrow channel by checking for collision of neighborhood points with the infeasible set and attempts to add points within narrow channels with a predetermined bias. This approach is compared with the classical RRT and its variants on a variety of benchmark planning problems. Simulation results indicate that the algorithm presented in this paper computes a significantly shorter path in spaces with narrow channels.