Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments
作者： Ahmed Hussain Qureshi , Yasar Ayaz
DOI: 10.1016/J.ROBOT.2015.02.007
关键词: Mathematical optimization 、 Path (graph theory) 、 Motion planning 、 Computer science 、 Sample (statistics) 、 Heuristic 、 Heuristics 、 Sampling (statistics)
摘要: … This paper introduces a bidirectional variation to the RRT* algorithm, with unique sample insertion and tree connection heuristics that allows fast convergence to the optimal path …
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