Detail publikačního výsledku

EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS

Gulina Irina, Matousek Radomil

Original Title

EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS

English Title

EFFICIENT NEAREST NEIGHBOR SEARCHING IN RRTS

Type

Paper in proceedings (conference paper)

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

sampling-based motion planning, Rapidly-exploring Random Tree, RRT, nearest-neighbor searching

Key words in English

sampling-based motion planning, Rapidly-exploring Random Tree, RRT, nearest-neighbor searching

Authors

Gulina Irina, Matousek Radomil

RIV year

2017

Released

08.06.2016

Location

Brno

ISBN

978-80-214-5365-4

Book

MENDEL 2016 22nd Conference on Soft Computing

Pages from

189

Pages to

194

Pages count

6

URL

http://www.mendel-conference.org

Full text in the Digital Library

http://hdl.handle.net/

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",
  pages="189--194",
  address="Brno",
  isbn="978-80-214-5365-4",
  url="http://www.mendel-conference.org"
}