Planning for a Chain of Bodies

Using standard configuration space concepts, RRTs can be applied to path planning for kinematic chains. A simple example is shown below. More complicated results appear in: RRT-Connect: An Efficient Approach to Single-Query Path Planning by James J. Kuffner, Jr. and Steven M. LaValle, submitted to 2000 IEEE International Conference on Robotics and Automation.

Another example:

Return to RRT Gallery page
Return to main RRT page
Web page maintained by Steve LaValle