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:
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