ON EDGE-LAZY RRT COLLISION CHECKING IN SAMPLING-BASED MOTION PLANNING

Lorenzo Ricciardi Celsi and Michela Ricciardi Celsi

Keywords

Lazy collision checking, RRT, motion planning

Abstract

We propose a simple collision-free motion planning algorithm that, by adopting the lazy approach, statistically yields improved runtime performance in comparison with classical rapidly-exploring random tree (RRT). Lazy RRT (with laziness at the edges only) can be regarded as an asymptotically suboptimal sampling-based motion planning algorithm, which trades off optimality for velocity. Two simulation scenarios characterized by a suitably structured environment are considered to evaluate the effectiveness of the proposed approach.

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