Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic.
Jonathan D. GammellSiddhartha S. SrinivasaTimothy D. BarfootPublished in: IROS (2014)
Keyphrases
- path planning
- motion planning
- optimal path
- mobile robot
- dynamic environments
- dynamic programming
- optimal solution
- collision avoidance
- path planning algorithm
- dynamic and uncertain environments
- obstacle avoidance
- monte carlo
- multi robot
- dead ends
- path finding
- potential field
- collision free
- trajectory planning
- navigation tasks
- degrees of freedom
- indoor environments
- configuration space
- unknown environments
- aerial vehicles
- simulated annealing
- search algorithm
- autonomous navigation
- optimal planning
- biologically inspired
- robot path planning
- unmanned aerial vehicles