Planning in a Narrow Corridor
Narrow passages in the configuration space often cause difficulty
for randomized path planners (including RRT-based planners). Below
is an RRT-based solution to a problem presented by V. Boor,
M. H. Overmars and A. F. van der Stappen, at ICRA 99.
Here, RRTs are used to path the path for a rigid robot among obstacles
in a 2D environment.
The task is to being the robot from the configuration shown in red
to teh configuration shown in green.
The RRTs are shown (projected from a 3D configuration space by
using only xy coordinates of the vertices), along with the solution
An animation of the solution.
In a different run, an alternative solution is computed due to
Another run yields the following.
Return to RRT Gallery page
Return to main RRT page
Web page maintained by Steve LaValle