A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces

Didier Devaurs (1) , Thierry Simeon (1) , Juan Cortés (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

The Transition-based RRT (T-RRT) is a variant of RRT developed for path planning on a continuous cost space, i.e. a configuration space featuring a continuous cost function. It has been used to solve complex, high-dimensional problems in robotics and structural biology. In this paper, we propose a multiple-tree variant of T-RRT, named Multi-T-RRT. It is especially useful to solve ordering-and-pathfinding problems, i.e. to compute a path going through several unordered waypoints. Using the Multi-T-RRT, such problems can be solved from a purely geometrical perspective, without having to use a symbolic task planner. We evaluate the Multi-T-RRT on several path planning problems and compare it to other path planners. Finally, we apply the Multi-T-RRT to a concrete industrial inspection problem involving an aerial robot.

Mots clés: path planning; cost space

Domaines: Robotique [cs.RO]

Didier Devaurs, Thierry Simeon, Juan Cortés. A multi-tree extension of the Transition-based RRT: Application to ordering-and-pathfinding problems in continuous cost spaces. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. 6 p. ⟨hal-01057030⟩