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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