Authors
Chris Urmson, Reid Simmons
Publication date
2003/10/27
Conference
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)(Cat. No. 03CH37453)
Volume
2
Pages
1178-1183
Publisher
IEEE
Description
This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm. The fundamental idea is to utilize a heuristic quality function to guide the search. Results from a relevant simulation experiment illustrate the benefit and drawbacks of the developed algorithms. The paper concludes with several promising directions for future research.
Total citations
Scholar articles
C Urmson, R Simmons - Proceedings 2003 IEEE/RSJ International Conference …, 2003