dRRT ex.pdf

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At each iteration a vertex from the tree is picked according to a
Voronoi-biased sampling.
With probability of 5% the bias is toward the goal.

The distance function for that sampling can be ΣL2 or CPM.
The direction oracle chooses the best direction for each robot
After every 1000 attempts to expand the graph, the local connector is
The local connector attempts to apply the local planner between the
goal and every configuration that its BFS-distance to goal is ≤ 3.

dRRT / dEST experiments

August 3, 2016

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