Scribd
Upload
30 views4 pages

ME512 Term-Paper RRT

The RRT-Connect algorithm is a randomized approach for single-query path planning that builds two Rapidly-exploring Random Trees from the start and goal configurations, using a greedy heuristic to connect them. It is efficient, simple to implement, and versatile, applicable to various robotic motion planning scenarios. The algorithm is probabilistically complete and does not require parameter tuning or preprocessing.

Uploaded by

Jai Prajapati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
30 views4 pages

ME512 Term-Paper RRT

The RRT-Connect algorithm is a randomized approach for single-query path planning that builds two Rapidly-exploring Random Trees from the start and goal configurations, using a greedy heuristic to connect them. It is efficient, simple to implement, and versatile, applicable to various robotic motion planning scenarios. The algorithm is probabilistically complete and does not require parameter tuning or preprocessing.

Uploaded by

Jai Prajapati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

RRT-Connect: A

Rapidly-Exploring
Approach to
Robot Motion
Planning

EFFICIEN T SINGLE -QU ERY PLANNING F OR


H IGH-DIM ENS IONAL C ONF IG URAT ION
S PACE S Presented By
Jai Kumar Prajapati
Sahil Nitin Mhapsekar
The RRT-Connect Algorithm: Connecting the Dots
RRTs Final Path

• A randomized algorithm designed for single-


query path planning.
• Simultaneously builds two Rapidly-exploring
Random Trees (RRTs).
• One RRT grows from the start configuration,
and the other from the goal configuration.
• Uses a greedy "Connect" heuristic to
aggressively try to link the two trees.
Benefits and Real-World Scenarios
• Efficiency: Quickly finds paths in high-dimensional
configuration spaces.
• Simplicity: Relatively easy to implement and understand.

• Versatility: Applicable to a wide range of problems, including: Path planning for a 7-DOF human arm
o Robot arm motion planning
o Object manipulation
o Virtual environment interaction (e.g., character animation)
o Piano moving in a constrained environment.

• Probabilistically Complete.

• No parameter tuning or preprocessing required.

Path planning for a 6-DOF Puma robot


Connecting RRT-Connect to
Robotics Concepts
• Configuration Space

• Robot Kinematics

• Motion Planning Algorithms

• Randomization in Robotics

• Heuristic Search

• Collision Detection

Reference: RRT-Connect

You might also like