Tangent bundle RRT: A randomized algorithm for constrained motion planning

The Tangent Bundle Rapidly Exploring Random Tree (TB-RRT) is an algorithm for planning robot motions on curved configuration space manifolds, in which the key idea is to construct random trees not on the manifold itself, but on tangent bundle approximations to the manifold. Curvature-based methods a...

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Bibliographic Details
Published inRobotica Vol. 34; no. 1; pp. 202 - 225
Main Authors Kim, Beobkyoon, Um, Terry Taewoong, Suh, Chansu, Park, F. C.
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.01.2016
Subjects
Algorithms
Approximation
Bundling
Construction
Manifolds
Robots
Tangents
Trees
Motion planning
Control of robotic systems
Path planning
Service robots
Redundant manipulators
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ISSN0263-5747
1469-8668
DOI10.1017/S0263574714001234

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Summary:The Tangent Bundle Rapidly Exploring Random Tree (TB-RRT) is an algorithm for planning robot motions on curved configuration space manifolds, in which the key idea is to construct random trees not on the manifold itself, but on tangent bundle approximations to the manifold. Curvature-based methods are developed for constructing tangent bundle approximations, and procedures for random node generation and bidirectional tree extension are developed that significantly reduce the number of projections to the manifold. Extensive numerical experiments for a wide range of planning problems demonstrate the computational advantages of the TB-RRT algorithm over existing constrained path planning algorithms.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574714001234