Evaluating performance of multiple RRTs

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dc.contributor.author Clifton, Matthew en_US
dc.contributor.author Paul, Gavin en_US
dc.contributor.author Kwok, Ngai en_US
dc.contributor.author Liu, Dikai en_US
dc.contributor.editor IEEE en_US
dc.date.accessioned 2010-07-15T07:28:39Z
dc.date.available 2010-07-15T07:28:39Z
dc.date.issued 2008 en_US
dc.identifier 2008001279 en_US
dc.identifier.citation Clifton Matthew et al. 2008, 'Evaluating performance of multiple RRTs', IEEE, Piscataway, USA, pp. 564-569. en_US
dc.identifier.issn 978-1-4244-2367-5 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/12915
dc.description.abstract This paper presents experimental results evaluating the performance of a new multiple Rapidly exploring Random Tree (RRT) algorithm. RRTs are randomised planners especially adept at solving difficult, high dimensional path planning problems. However, environments with low-connectivity due to the presence of obstacles can severely affect convergence. Multiple RRTs have been proposed as a means of addressing this issue, however, this approach can adversely affect computational efficiency. This paper introduces a new and simple method which takes advantage of the benefits path of multiple trees, whilst ensuring the computational burden of maintaining them is minimised. Results indicate that multiple RRTs are able to reduce the logarithmic complexity of the search, most notably in environments with high obstacle densities. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/MESA.2008.4735749 en_US
dc.title Evaluating performance of multiple RRTs en_US
dc.parent Proceedings of the IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 564 en_US
dc.identifier.endpage 569 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 090500 en_US
dc.personcode 10660773 en_US
dc.personcode 101395 en_US
dc.personcode 995424 en_US
dc.personcode 000350 en_US
dc.percentage 50 en_US
dc.classification.name Civil Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom American Society of Mechanical Engineering en_US
dc.date.activity 20081012 en_US
dc.location.activity Beijing, China en_US
dc.description.keywords NA en_US
dc.staffid en_US
dc.staffid 000350 en_US

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