ST-RRT*: 時空間を通じた漸近最適な双方向動作計画
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
動的障害物や速度制約、未知の到着時間を含む時空間計画のため、最短到着時間に対して漸近最適かつ確率的完全な双方向RRT*アルゴリズムを提案し、RRT-ConnectやRRT*より優れることを示した。
著者: Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint
分類: cs.RO
原文アブストラクト
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, which is asymptotically optimal with respect to the shortest arrival time. We experimentally evaluate ST-RRT* in both abstract (2D disk, 8D disk in cluttered spaces, and on a narrow passage problem), and simulated robotic path planning problems (sequential planning of 8DoF mobile robots, and 7DoF robotic arms). The proposed planner outperforms RRT-Connect and RRT* on both initial solution time, and attained final solution cost. The code for ST-RRT* is available in the Open Motion Planning Library (OMPL).
