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Rapidly-Exploring Random Tree/ RRT
Sampling-based motion planner for high-dimensional configuration spaces.
Definition
RRT and its asymptotically optimal variant RRT* incrementally extend a tree by sampling the configuration space toward random targets, producing feasible paths in non-convex, high-dimensional spaces. RRT-class planners are the workhorse for kinodynamic motion planning on CCA platforms and ground robots.
Reference attributes
- Origin
- LaValle, 1998
- Optimal variant
- RRT*
Related terms
#planning#motion