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 path.

An animation of the solution.

In a different run, an alternative solution is computed due to the randomness.

Another run yields the following.

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