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Enhancing the Transition-based RRT to deal with complex cost spaces

Devaurs, Didier and Siméon, Thierry and Cortés, Juan Enhancing the Transition-based RRT to deal with complex cost spaces. (2013) In: IEEE International Conference on Robotics and Automation, ICRA '13, 6-10 May 2013, Karlsruhe, Germany .

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Official URL: http://www.icra2013.org/

Abstract

The Transition-based RRT (T-RRT) algorithm enables to solve motion planning problems involving configuration spaces over which cost functions are defined, or cost spaces for short. T-RRT has been successfully applied to diverse problems in robotics and structural biology. In this paper, we aim at enhancing T-RRT to solve ever more difficult problems involving larger and more complex cost spaces. We compare several variants of T-RRT by evaluating them on various motion planning problems involving different types of cost functions and different levels of geometrical complexity. First, we explain why applying as such classical extensions of RRT to T-RRT is not helpful, both in a mono-directional and in a bidirectional context. Then, we propose an efficient Bidirectional T-RRT, based on a bidirectional scheme tailored to cost spaces. Finally, we illustrate the new possibilities offered by the Bidirectional T-RRT on an industrial inspection problem.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UPS (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Laboratory name:
Funders:
European Community
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Deposited By: Didier Devaurs
Deposited On:24 Jul 2013 09:45

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