Abstract
Wrapping-based informed RRT∗ is a modified version of informed RRT∗. Informed RRT∗ formulates an n-dimensional hyperellipsoid from which it generates new sample nodes. This has a dramatically increased chance of sampling nodes that will improve the current best solution compared to conventional RRT∗. However, due to explorative and randomized behaviors of RRT∗, the size of the hyperellipsoid will unlikely be small enough to call it effective. To solve this matter, wrapping-based informed RRT∗ proposed in this paper combines a size-diminishing procedure called 'wrapping process' with informed RRT∗. The proposed planner can advance from the first solution acquired by the planner to the improved, feasible solution which can drastically reduce the size of the hyperellipsoid. Therefore, the required time consumption in order to acquire the globally optimal solution is reduced dramatically. The algorithm was tested in various environments with different numbers of joint variables and showed much better performance than the existing planners. Furthermore, the wrapping process proved to be a comparably insignificant computational burden regardless of the number of dimensions of the configuration space.
| Original language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 244-248 |
| Number of pages | 5 |
| Volume | 2015-August |
| ISBN (Print) | 9781467391078 |
| DOIs | |
| Publication status | Published - 2015 Aug 25 |
| Event | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of Duration: 2015 Jul 7 → 2015 Jul 11 |
Other
| Other | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 15/7/7 → 15/7/11 |
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Keywords
- optimal motion planning
- RRT
- RRT
- Sampling-based motion planning
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
Informed RRT∗ towards optimality by reducing size of hyperellipsoid. / Kim, Min Cheol; Song, Jae-Bok.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2015-August Institute of Electrical and Electronics Engineers Inc., 2015. p. 244-248 7222539.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Informed RRT∗ towards optimality by reducing size of hyperellipsoid
AU - Kim, Min Cheol
AU - Song, Jae-Bok
PY - 2015/8/25
Y1 - 2015/8/25
N2 - Wrapping-based informed RRT∗ is a modified version of informed RRT∗. Informed RRT∗ formulates an n-dimensional hyperellipsoid from which it generates new sample nodes. This has a dramatically increased chance of sampling nodes that will improve the current best solution compared to conventional RRT∗. However, due to explorative and randomized behaviors of RRT∗, the size of the hyperellipsoid will unlikely be small enough to call it effective. To solve this matter, wrapping-based informed RRT∗ proposed in this paper combines a size-diminishing procedure called 'wrapping process' with informed RRT∗. The proposed planner can advance from the first solution acquired by the planner to the improved, feasible solution which can drastically reduce the size of the hyperellipsoid. Therefore, the required time consumption in order to acquire the globally optimal solution is reduced dramatically. The algorithm was tested in various environments with different numbers of joint variables and showed much better performance than the existing planners. Furthermore, the wrapping process proved to be a comparably insignificant computational burden regardless of the number of dimensions of the configuration space.
AB - Wrapping-based informed RRT∗ is a modified version of informed RRT∗. Informed RRT∗ formulates an n-dimensional hyperellipsoid from which it generates new sample nodes. This has a dramatically increased chance of sampling nodes that will improve the current best solution compared to conventional RRT∗. However, due to explorative and randomized behaviors of RRT∗, the size of the hyperellipsoid will unlikely be small enough to call it effective. To solve this matter, wrapping-based informed RRT∗ proposed in this paper combines a size-diminishing procedure called 'wrapping process' with informed RRT∗. The proposed planner can advance from the first solution acquired by the planner to the improved, feasible solution which can drastically reduce the size of the hyperellipsoid. Therefore, the required time consumption in order to acquire the globally optimal solution is reduced dramatically. The algorithm was tested in various environments with different numbers of joint variables and showed much better performance than the existing planners. Furthermore, the wrapping process proved to be a comparably insignificant computational burden regardless of the number of dimensions of the configuration space.
KW - optimal motion planning
KW - RRT
KW - RRT
KW - Sampling-based motion planning
UR - http://www.scopus.com/inward/record.url?scp=84951080848&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84951080848&partnerID=8YFLogxK
U2 - 10.1109/AIM.2015.7222539
DO - 10.1109/AIM.2015.7222539
M3 - Conference contribution
SN - 9781467391078
VL - 2015-August
SP - 244
EP - 248
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PB - Institute of Electrical and Electronics Engineers Inc.
ER -