RSRT: Rapidly exploring sorted random tree - online adapting rrt to reduce computational solving time while motion planning in wide configuration spaces.
Nicolas JouandeauPublished in: ICINCO-ICSO (2007)
Keyphrases
- motion planning
- configuration space
- degrees of freedom
- trajectory planning
- mobile robot
- path planning
- robot arm
- humanoid robot
- online learning
- autonomous mobile robot
- robotic arm
- tree structure
- obstacle avoidance
- nearest neighbor searching
- robotic tasks
- belief space
- multi robot
- mechanical systems
- real time
- collision free
- potential field
- index structure
- configuration problems
- three dimensional