Quantum mechanics

Robot

Algorithm

Philosophy

Motion planning

Animation

Computer security

Computer graphics (images)

Archaeology

Any-angle path planning

Computer science

Collision

Mathematical optimization

Simple (philosophy)

Classical mechanics

Greedy algorithm

Configuration space

Physics

Mathematics

Collision detection

Epistemology

Mathematical analysis

Path (computing)

Artificial intelligence

Heuristic

Tree (set theory)

Kinematics

Programming language

Workspace

Plan (archaeology)

Computer animation

History

A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two rapidly-exploring random trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through, the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic chain) for the automatic graphic animation of collision-free grasping and manipulation tasks, the algorithm has been successfully applied to a variety of path planning problems. Computed examples include generating collision-free motions for rigid objects in 2D and 3D, and collision-free manipulation motions for a 6-DOF PUMA arm in a 3D workspace. Some basic theoretical analysis is also presented.

RRT-connect: An efficient approach to single-query path planning