Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments
The sampling-based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been proposed that ensures asymptotic optimality. Subsequently i...
Gespeichert in:
| Veröffentlicht in: | Robotics and autonomous systems Jg. 68; S. 1 - 11 |
|---|---|
| Hauptverfasser: | , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Elsevier B.V
01.06.2015
|
| Schlagworte: | |
| ISSN: | 0921-8890, 1872-793X |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Abstract | The sampling-based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been proposed that ensures asymptotic optimality. Subsequently its bidirectional version has also been introduced in the literature known as Bidirectional-RRT* (B-RRT*). We introduce a new variant called Intelligent Bidirectional-RRT* (IB-RRT*) which is an improved variant of the optimal RRT* and bidirectional version of RRT* (B-RRT*) algorithms and is specially designed for complex cluttered environments. IB-RRT* utilizes the bidirectional trees approach and introduces intelligent sample insertion heuristic for fast convergence to the optimal path solution using uniform sampling heuristics. The proposed algorithm is evaluated theoretically and experimental results are presented that compares IB-RRT* with RRT* and B-RRT*. Moreover, experimental results demonstrate the superior efficiency of IB-RRT* in comparison with RRT* and B-RRT in complex cluttered environments.
•Intelligent sample insertion.•Non-greedy trees connection.•Improves the convergence rate. |
|---|---|
| AbstractList | The sampling-based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been proposed that ensures asymptotic optimality. Subsequently its bidirectional version has also been introduced in the literature known as Bidirectional-RRT* (B-RRT*). We introduce a new variant called Intelligent Bidirectional-RRT* (IB-RRT*) which is an improved variant of the optimal RRT* and bidirectional version of RRT* (B-RRT*) algorithms and is specially designed for complex cluttered environments. IB-RRT* utilizes the bidirectional trees approach and introduces intelligent sample insertion heuristic for fast convergence to the optimal path solution using uniform sampling heuristics. The proposed algorithm is evaluated theoretically and experimental results are presented that compares IB-RRT* with RRT* and B-RRT*. Moreover, experimental results demonstrate the superior efficiency of IB-RRT* in comparison with RRT* and B-RRT in complex cluttered environments.
•Intelligent sample insertion.•Non-greedy trees connection.•Improves the convergence rate. |
| Author | Qureshi, Ahmed Hussain Ayaz, Yasar |
| Author_xml | – sequence: 1 givenname: Ahmed Hussain surname: Qureshi fullname: Qureshi, Ahmed Hussain email: ahqureshi@smme.nust.edu.pk – sequence: 2 givenname: Yasar surname: Ayaz fullname: Ayaz, Yasar |
| BookMark | eNqFkMlOwzAQQC1UJNrCF3DxDyR4aRL7wAFVLJUqcQGJm-U4k8qVY0eOqdq_J6GcOMBhNNJo3ixvgWY-eEDolpKcElre7fMY6pByRmiRE5YTUl2gORUVyyrJP2ZoTiSjmRCSXKHFMOwJIbyo-BwdNj6Bc3YHPuHaNjaCSTZ47XDUvW3cKYNj70K0fjdWfBM6nCLAgNsQceiT7cbWLkwM7p32fmq0HpvQ9Q6O2LjPlCBCg8EfbAy-GzcN1-iy1W6Am5-8RO9Pj2_rl2z7-rxZP2wzs-IyZUay1kAhC6NFWwiiiwpWNQEhy7YUotWMy1VdNaYqSi6oLErBWl1KWjJZjsGXiJ_nmhiGIUKr-jheHE-KEjWpU3v1rU5N6hRhalQ3UvIXZWzS04spauv-Ye_PLIxvHSxENRgL3sBZrWqC_ZP_AktpkYo |
| CitedBy_id | crossref_primary_10_1109_LRA_2020_3010220 crossref_primary_10_1016_j_jestch_2023_101343 crossref_primary_10_1007_s40747_025_02081_7 crossref_primary_10_3390_s25072067 crossref_primary_10_3390_app112210773 crossref_primary_10_1108_IR_02_2024_0049 crossref_primary_10_1080_20464177_2024_2441595 crossref_primary_10_1007_s11370_017_0236_7 crossref_primary_10_1016_j_robot_2020_103607 crossref_primary_10_1016_j_rcim_2023_102643 crossref_primary_10_1108_IR_01_2024_0037 crossref_primary_10_1155_2021_6669728 crossref_primary_10_1016_j_ast_2024_109363 crossref_primary_10_1016_j_robot_2018_06_013 crossref_primary_10_1017_S0263574722000935 crossref_primary_10_1109_LRA_2023_3325716 crossref_primary_10_1109_JIOT_2023_3277850 crossref_primary_10_1109_ACCESS_2021_3112187 crossref_primary_10_1016_j_asoc_2019_02_044 crossref_primary_10_1016_j_robot_2019_04_004 crossref_primary_10_1016_j_procs_2023_07_047 crossref_primary_10_1016_j_eswa_2021_116379 crossref_primary_10_1016_j_oceaneng_2025_122712 crossref_primary_10_1016_j_aei_2021_101376 crossref_primary_10_1007_s13177_021_00281_2 crossref_primary_10_1177_09544062221075168 crossref_primary_10_3390_sym11070945 crossref_primary_10_1007_s11063_021_10536_4 crossref_primary_10_1007_s12083_025_01968_z crossref_primary_10_1109_TITS_2021_3123327 crossref_primary_10_1155_2017_2849745 crossref_primary_10_32604_cmc_2022_022183 crossref_primary_10_1016_j_autcon_2023_105046 crossref_primary_10_1017_S0263574716000205 crossref_primary_10_3390_ijgi13100362 crossref_primary_10_1007_s10514_020_09956_3 crossref_primary_10_1109_TIE_2025_3546349 crossref_primary_10_1155_2018_5868915 crossref_primary_10_1016_j_procs_2020_06_109 crossref_primary_10_1109_TASE_2024_3415497 crossref_primary_10_1017_S0263574719000377 crossref_primary_10_1016_j_eswa_2018_01_035 crossref_primary_10_1007_s41315_024_00330_5 crossref_primary_10_1177_02783649211069572 crossref_primary_10_1007_s11804_025_00646_z crossref_primary_10_1108_AA_03_2021_0029 crossref_primary_10_20965_jaciii_2023_p0664 crossref_primary_10_1109_LRA_2023_3329619 crossref_primary_10_1007_s11370_024_00541_6 crossref_primary_10_1016_j_fusengdes_2021_112758 crossref_primary_10_1016_j_jocs_2024_102239 crossref_primary_10_1007_s41315_024_00413_3 crossref_primary_10_2478_cait_2024_0026 crossref_primary_10_3390_jmse12010128 crossref_primary_10_1109_TIV_2023_3296435 crossref_primary_10_3390_s21206907 crossref_primary_10_1155_2019_5157403 crossref_primary_10_1109_JIOT_2024_3370152 crossref_primary_10_1016_j_advengsoft_2015_04_011 crossref_primary_10_1016_j_compeleceng_2020_106688 crossref_primary_10_1016_j_physa_2024_130265 crossref_primary_10_1016_j_ast_2021_107014 crossref_primary_10_3390_drones8080352 crossref_primary_10_3390_robotics10020057 crossref_primary_10_1061_JCCEE5_CPENG_6449 crossref_primary_10_1080_01691864_2020_1850349 crossref_primary_10_1109_JSEN_2024_3441622 crossref_primary_10_1109_ACCESS_2025_3582959 crossref_primary_10_3390_electronics13214284 crossref_primary_10_1109_LRA_2021_3092267 crossref_primary_10_1177_17298806221118867 crossref_primary_10_1109_ACCESS_2019_2941537 crossref_primary_10_3390_drones7030169 crossref_primary_10_1049_iet_its_2018_5513 crossref_primary_10_1109_TRO_2020_3006716 crossref_primary_10_1109_LRA_2025_3540627 crossref_primary_10_1109_TRO_2021_3096070 crossref_primary_10_1177_09544100221118210 crossref_primary_10_1016_j_jksuci_2024_102152 crossref_primary_10_1007_s11431_022_2264_5 crossref_primary_10_1016_j_actaastro_2025_07_059 crossref_primary_10_1109_ACCESS_2024_3516056 crossref_primary_10_1109_LRA_2024_3360810 crossref_primary_10_1109_ACCESS_2024_3451616 crossref_primary_10_1109_TASE_2025_3531504 crossref_primary_10_1016_j_jocs_2023_101944 crossref_primary_10_1007_s40747_021_00366_1 crossref_primary_10_3390_ijgi12020082 crossref_primary_10_1016_j_jksuci_2024_102146 crossref_primary_10_1007_s00500_023_08674_z crossref_primary_10_1007_s10514_022_10044_x crossref_primary_10_3389_fpls_2025_1650007 crossref_primary_10_3390_bdcc9050118 crossref_primary_10_1109_TRO_2023_3301295 crossref_primary_10_1007_s41315_025_00455_1 crossref_primary_10_1016_j_robot_2020_103595 crossref_primary_10_1049_iet_its_2020_0297 crossref_primary_10_1007_s00542_020_05100_4 crossref_primary_10_1016_j_cie_2022_108771 crossref_primary_10_3390_machines11100980 crossref_primary_10_1016_j_robot_2024_104633 crossref_primary_10_1080_01691864_2023_2180327 crossref_primary_10_1109_TASE_2025_3570694 crossref_primary_10_3390_ijgi7110450 crossref_primary_10_1038_s41598_022_19249_7 crossref_primary_10_1146_annurev_control_061920_093753 crossref_primary_10_1088_1742_6596_2365_1_012020 crossref_primary_10_3390_app142210313 crossref_primary_10_1080_10255842_2017_1423289 crossref_primary_10_3390_jmse10101460 crossref_primary_10_1016_j_oceaneng_2025_122261 crossref_primary_10_3390_s21124156 crossref_primary_10_3390_biomimetics8040374 crossref_primary_10_1016_j_engappai_2022_105182 crossref_primary_10_1080_0305215X_2021_2021196 crossref_primary_10_1109_ACCESS_2019_2928846 crossref_primary_10_1016_j_physa_2020_125718 crossref_primary_10_1016_j_oceaneng_2022_112481 crossref_primary_10_1177_1729881420945213 crossref_primary_10_2478_amcs_2018_0038 crossref_primary_10_1016_j_asoc_2025_113342 crossref_primary_10_1109_TVT_2023_3330581 crossref_primary_10_2139_ssrn_5079815 crossref_primary_10_1109_TIE_2023_3269462 crossref_primary_10_1016_j_engappai_2023_107770 crossref_primary_10_1017_S0263574718000218 crossref_primary_10_1108_JICV_10_2019_0013 crossref_primary_10_1155_2020_5910503 crossref_primary_10_1016_j_heliyon_2024_e32451 crossref_primary_10_1007_s41315_023_00300_3 crossref_primary_10_1007_s10846_023_01846_x crossref_primary_10_20965_jaciii_2021_p0121 crossref_primary_10_3390_s22239036 |
| Cites_doi | 10.1016/0196-8858(83)90014-3 10.1177/027836498600500106 10.1146/annurev.bioeng.1.1.211 10.1016/j.artint.2007.11.009 10.1109/ICRA.2014.6907211 10.1002/rob.20285 10.1145/359156.359164 10.1109/70.508439 10.1109/70.678449 10.1109/ACCESS.2014.2302442 10.1177/0278364911406761 10.1109/TMECH.2013.2252076 10.1177/02783649922067753 |
| ContentType | Journal Article |
| Copyright | 2015 Elsevier B.V. |
| Copyright_xml | – notice: 2015 Elsevier B.V. |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.robot.2015.02.007 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1872-793X |
| EndPage | 11 |
| ExternalDocumentID | 10_1016_j_robot_2015_02_007 S0921889015000317 |
| GroupedDBID | --K --M -~X .~1 0R~ 123 1B1 1~. 1~5 29P 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO AAYFN ABBOA ABFNM ABFRF ABIVO ABJNI ABMAC ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ACZNC ADBBV ADEZE ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHPGS AHZHX AIALX AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA GBOLZ HLZ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ RXW SBC SCC SDF SDG SDP SES SET SEW SPC SPCBC SST SSV SSZ T5K TAE UNMZH WUQ XPP ~G- 9DU AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD |
| ID | FETCH-LOGICAL-c439t-c92fce595ca8f580a57e4b0e896f688fa2394b7dc75638195682fa69162966293 |
| ISICitedReferencesCount | 173 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000352669500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0921-8890 |
| IngestDate | Tue Nov 18 19:44:11 EST 2025 Sat Nov 29 02:52:56 EST 2025 Fri Feb 23 02:33:49 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Motion planning Optimal path planning RRT Sampling-based algorithms Bidirectional trees |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c439t-c92fce595ca8f580a57e4b0e896f688fa2394b7dc75638195682fa69162966293 |
| PageCount | 11 |
| ParticipantIDs | crossref_primary_10_1016_j_robot_2015_02_007 crossref_citationtrail_10_1016_j_robot_2015_02_007 elsevier_sciencedirect_doi_10_1016_j_robot_2015_02_007 |
| PublicationCentury | 2000 |
| PublicationDate | 2015-06-01 |
| PublicationDateYYYYMMDD | 2015-06-01 |
| PublicationDate_xml | – month: 06 year: 2015 text: 2015-06-01 day: 01 |
| PublicationDecade | 2010 |
| PublicationTitle | Robotics and autonomous systems |
| PublicationYear | 2015 |
| Publisher | Elsevier B.V |
| Publisher_xml | – name: Elsevier B.V |
| References | Latombe (br000010) 1990 Kuffner, LaValle (br000135) 2000 Canny (br000045) 1988 Pivtoraiko, Knepper, Kelly (br000100) 2009; 26 Lozano-Pérez, Wesley (br000040) 1979; 22 Chen, Hwang (br000080) 1998; 14 Lindemann, LaValle (br000170) 2005 Kuan, Zamiska, Brooks (br000065) 1985 Pivtoraiko, Kelly (br000105) 2011 Elbanhawi, Simic (br000090) 2014; 2 Jordan, Perez (br000175) 2013 Perez, Karaman, Shkolnik, Frazzoli, Teller, Walter (br000145) 2011 Qureshi, Mumtaz, Iqbal, Ali, Ayaz, Ahmed, Muhammad, Hasan, Kim, Ra (br000155) 2013 Chang, Li (br000015) 1995 R.A. Brooks, T. Lozano-Perez, A subdivision algorithm in configuration space for findpath with rotation. Jan, Sun, Tsai, Lin (br000075) 2014; 19 Kavraki, Svestka, Latombe, Overmars (br000115) 1996; 12 Qureshi, Mumtaz, Iqbal, Ayaz, Muhammad, Hasan, Kim, Ra (br000160) 2014 D. Kim, J. Lee, S.-E. Yoon, Cloud RRT: sampling cloud based RRT, in: Proc. IEEE Int. Conf. Robot. Autom, 2014. Qureshi, Iqbal, Qamar, Islam, Ayaz, Muhammad (br000150) 2013 Howard, Green, Kelly (br000095) 2008 Khatib (br000055) 1986; 5 Schwartz, Sharir (br000035) 1983; 4 Girard, Maciejewski (br000020) 1985 Karaman, Frazzoli (br000050) 2011; 30 Garcia, How (br000130) 2005 . LaValle (br000005) 2006 Koren, Borenstein (br000060) 1991 Latombe (br000030) 1999; 18 Lindemann, LaValle (br000125) 2004 S. Karaman, E. Frazzoli, Incremental sampling-based algorithms for optimal motion planning. ArXiv Preprint Kavraki, Latombe (br000110) 1994 Howe, Matsuoka (br000025) 1999; 1 S.M. LaValle, Rapidly-exploring random trees a new tool for path planning. Likhachev, Ferguson, Gordon, Stentz, Thrun (br000085) 2008; 172 LaValle (10.1016/j.robot.2015.02.007_br000005) 2006 Chang (10.1016/j.robot.2015.02.007_br000015) 1995 Khatib (10.1016/j.robot.2015.02.007_br000055) 1986; 5 Howe (10.1016/j.robot.2015.02.007_br000025) 1999; 1 Karaman (10.1016/j.robot.2015.02.007_br000050) 2011; 30 Jan (10.1016/j.robot.2015.02.007_br000075) 2014; 19 Qureshi (10.1016/j.robot.2015.02.007_br000155) 2013 Lindemann (10.1016/j.robot.2015.02.007_br000170) 2005 Garcia (10.1016/j.robot.2015.02.007_br000130) 2005 Likhachev (10.1016/j.robot.2015.02.007_br000085) 2008; 172 10.1016/j.robot.2015.02.007_br000120 Elbanhawi (10.1016/j.robot.2015.02.007_br000090) 2014; 2 10.1016/j.robot.2015.02.007_br000140 10.1016/j.robot.2015.02.007_br000165 Latombe (10.1016/j.robot.2015.02.007_br000010) 1990 Howard (10.1016/j.robot.2015.02.007_br000095) 2008 Pivtoraiko (10.1016/j.robot.2015.02.007_br000100) 2009; 26 Girard (10.1016/j.robot.2015.02.007_br000020) 1985 Chen (10.1016/j.robot.2015.02.007_br000080) 1998; 14 Kuffner (10.1016/j.robot.2015.02.007_br000135) 2000 Latombe (10.1016/j.robot.2015.02.007_br000030) 1999; 18 Pivtoraiko (10.1016/j.robot.2015.02.007_br000105) 2011 Kavraki (10.1016/j.robot.2015.02.007_br000115) 1996; 12 Canny (10.1016/j.robot.2015.02.007_br000045) 1988 Koren (10.1016/j.robot.2015.02.007_br000060) 1991 Lozano-Pérez (10.1016/j.robot.2015.02.007_br000040) 1979; 22 Kuan (10.1016/j.robot.2015.02.007_br000065) 1985 Kavraki (10.1016/j.robot.2015.02.007_br000110) 1994 Qureshi (10.1016/j.robot.2015.02.007_br000150) 2013 Qureshi (10.1016/j.robot.2015.02.007_br000160) 2014 Lindemann (10.1016/j.robot.2015.02.007_br000125) 2004 Schwartz (10.1016/j.robot.2015.02.007_br000035) 1983; 4 Perez (10.1016/j.robot.2015.02.007_br000145) 2011 Jordan (10.1016/j.robot.2015.02.007_br000175) 2013 10.1016/j.robot.2015.02.007_br000070 |
| References_xml | – start-page: 1398 year: 1991 end-page: 1404 ident: br000060 article-title: Potential field methods and their inherent limitations for mobile robot navigation publication-title: Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on – volume: 19 start-page: 660 year: 2014 end-page: 666 ident: br000075 article-title: An shortest path algorithm based on delaunay triangulation publication-title: IEEE/ASME Trans. Mechatronics – start-page: 1012 year: 1995 end-page: 1019 ident: br000015 article-title: Assembly maintainability study with motion planning publication-title: Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, Vol. 1 – start-page: 2138 year: 1994 end-page: 2145 ident: br000110 article-title: Randomized preprocessing of configuration for fast path planning publication-title: Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on – start-page: 1887 year: 2013 end-page: 1892 ident: br000155 article-title: Adaptive potential guided directional-RRT publication-title: Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on – start-page: 4307 year: 2011 end-page: 4313 ident: br000145 article-title: Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms publication-title: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on – year: 1988 ident: br000045 article-title: The Complexity of Robot Motion Planning – volume: 12 start-page: 566 year: 1996 end-page: 580 ident: br000115 article-title: Probabilistic roadmaps for path planning in high-dimensional configuration spaces publication-title: IEEE Trans. Robot. Autom. – reference: D. Kim, J. Lee, S.-E. Yoon, Cloud RRT: sampling cloud based RRT, in: Proc. IEEE Int. Conf. Robot. Autom, 2014. – volume: 1 start-page: 211 year: 1999 end-page: 240 ident: br000025 article-title: Robotics for surgery publication-title: Annu. Rev. Biomed. Eng. – volume: 4 start-page: 298 year: 1983 end-page: 351 ident: br000035 article-title: On the “piano movers problem”. II. General techniques for computing topological properties of real algebraic manifolds publication-title: Adv. in Appl. Math. – volume: 14 start-page: 390 year: 1998 end-page: 403 ident: br000080 article-title: Sandros: a dynamic graph search algorithm for motion planning publication-title: IEEE Trans. Robot. Autom. – volume: 22 start-page: 560 year: 1979 end-page: 570 ident: br000040 article-title: An algorithm for planning collision-free paths among polyhedral obstacles publication-title: Commun. ACM – start-page: 7965 year: 2005 end-page: 7970 ident: br000130 article-title: Improving the efficiency of rapidly-exploring random trees using a potential function planner publication-title: Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC’05. 44th IEEE Conference on – volume: 30 start-page: 846 year: 2011 end-page: 894 ident: br000050 article-title: Sampling-based algorithms for optimal motion planning publication-title: Int. J. Robot. Res. – reference: S. Karaman, E. Frazzoli, Incremental sampling-based algorithms for optimal motion planning. ArXiv Preprint – volume: 2 start-page: 56 year: 2014 end-page: 77 ident: br000090 article-title: Sampling-based robot motion planning: a review publication-title: IEEE Access – start-page: 380 year: 2014 end-page: 385 ident: br000160 article-title: Triangular geometry based optimal motion planning using RRT*-motion planner publication-title: Advanced Motion Control (AMC), 2014 IEEE 13th International Workshop on – year: 2013 ident: br000175 article-title: Optimal bidirectional rapidly-exploring random trees, Tech. Rep. MIT-CSAIL-TR-2013-021 – volume: 26 start-page: 308 year: 2009 end-page: 333 ident: br000100 article-title: Differentially constrained mobile robot motion planning in state lattices publication-title: J. Field Robot. – volume: 18 start-page: 1119 year: 1999 end-page: 1128 ident: br000030 article-title: Motion planning: a journey of robots, molecules, digital actors, and other artifacts publication-title: Int. J. Robot. Res. – volume: 5 start-page: 90 year: 1986 end-page: 98 ident: br000055 article-title: Real-time obstacle avoidance for manipulators and mobile robots publication-title: Int. J. Robot. Res. – reference: R.A. Brooks, T. Lozano-Perez, A subdivision algorithm in configuration space for findpath with rotation. – reference: . – start-page: 995 year: 2000 end-page: 1001 ident: br000135 article-title: RRT-connect: an efficient approach to single-query path planning publication-title: Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, Vol. 2 – start-page: 36 year: 2005 end-page: 54 ident: br000170 article-title: Current issues in sampling-based motion planning publication-title: Robotics Research – start-page: 2172 year: 2011 end-page: 2179 ident: br000105 article-title: Kinodynamic motion planning with state lattice motion primitives publication-title: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on – start-page: 519 year: 2013 end-page: 524 ident: br000150 article-title: Potential guided directional-RRT* for accelerated motion planning in cluttered environments publication-title: Mechatronics and Automation (ICMA), 2013 IEEE International Conference on – year: 2006 ident: br000005 article-title: Planning Algorithms – start-page: 263 year: 1985 end-page: 270 ident: br000020 article-title: Computational modeling for the computer animation of legged figures publication-title: ACM SIGGRAPH Computer Graphics, Vol. 19 – start-page: 168 year: 1985 end-page: 173 ident: br000065 article-title: Natural decomposition of free space for path planning publication-title: Robotics and Automation. Proceedings. 1985 IEEE International Conference on, Vol. 2 – year: 1990 ident: br000010 article-title: ROBOT MOTION PLANNING.: Edition en Anglais – start-page: 585 year: 2008 end-page: 593 ident: br000095 article-title: State space sampling of feasible motions for high performance mobile robot navigation in highly constrained environments publication-title: Field and Service Robotics – reference: S.M. LaValle, Rapidly-exploring random trees a new tool for path planning. – start-page: 3251 year: 2004 end-page: 3257 ident: br000125 article-title: Incrementally reducing dispersion by increasing voronoi bias in RRTs publication-title: Robotics and Automation, 2004. Proceedings. ICRA’04. 2004 IEEE International Conference on, Vol. 4 – volume: 172 start-page: 1613 year: 2008 end-page: 1643 ident: br000085 article-title: Anytime search in dynamic graphs publication-title: Artif. Intell. – ident: 10.1016/j.robot.2015.02.007_br000140 – start-page: 1012 year: 1995 ident: 10.1016/j.robot.2015.02.007_br000015 article-title: Assembly maintainability study with motion planning – volume: 4 start-page: 298 issue: 3 year: 1983 ident: 10.1016/j.robot.2015.02.007_br000035 article-title: On the “piano movers problem”. II. General techniques for computing topological properties of real algebraic manifolds publication-title: Adv. in Appl. Math. doi: 10.1016/0196-8858(83)90014-3 – start-page: 2172 year: 2011 ident: 10.1016/j.robot.2015.02.007_br000105 article-title: Kinodynamic motion planning with state lattice motion primitives – start-page: 380 year: 2014 ident: 10.1016/j.robot.2015.02.007_br000160 article-title: Triangular geometry based optimal motion planning using RRT*-motion planner – volume: 5 start-page: 90 issue: 1 year: 1986 ident: 10.1016/j.robot.2015.02.007_br000055 article-title: Real-time obstacle avoidance for manipulators and mobile robots publication-title: Int. J. Robot. Res. doi: 10.1177/027836498600500106 – start-page: 168 year: 1985 ident: 10.1016/j.robot.2015.02.007_br000065 article-title: Natural decomposition of free space for path planning – year: 2013 ident: 10.1016/j.robot.2015.02.007_br000175 – start-page: 1398 year: 1991 ident: 10.1016/j.robot.2015.02.007_br000060 article-title: Potential field methods and their inherent limitations for mobile robot navigation – volume: 1 start-page: 211 issue: 1 year: 1999 ident: 10.1016/j.robot.2015.02.007_br000025 article-title: Robotics for surgery publication-title: Annu. Rev. Biomed. Eng. doi: 10.1146/annurev.bioeng.1.1.211 – volume: 172 start-page: 1613 issue: 14 year: 2008 ident: 10.1016/j.robot.2015.02.007_br000085 article-title: Anytime search in dynamic graphs publication-title: Artif. Intell. doi: 10.1016/j.artint.2007.11.009 – ident: 10.1016/j.robot.2015.02.007_br000165 doi: 10.1109/ICRA.2014.6907211 – start-page: 3251 year: 2004 ident: 10.1016/j.robot.2015.02.007_br000125 article-title: Incrementally reducing dispersion by increasing voronoi bias in RRTs – year: 2006 ident: 10.1016/j.robot.2015.02.007_br000005 – volume: 26 start-page: 308 issue: 3 year: 2009 ident: 10.1016/j.robot.2015.02.007_br000100 article-title: Differentially constrained mobile robot motion planning in state lattices publication-title: J. Field Robot. doi: 10.1002/rob.20285 – year: 1990 ident: 10.1016/j.robot.2015.02.007_br000010 – start-page: 263 year: 1985 ident: 10.1016/j.robot.2015.02.007_br000020 article-title: Computational modeling for the computer animation of legged figures – start-page: 995 year: 2000 ident: 10.1016/j.robot.2015.02.007_br000135 article-title: RRT-connect: an efficient approach to single-query path planning – year: 1988 ident: 10.1016/j.robot.2015.02.007_br000045 – start-page: 519 year: 2013 ident: 10.1016/j.robot.2015.02.007_br000150 article-title: Potential guided directional-RRT* for accelerated motion planning in cluttered environments – volume: 22 start-page: 560 issue: 10 year: 1979 ident: 10.1016/j.robot.2015.02.007_br000040 article-title: An algorithm for planning collision-free paths among polyhedral obstacles publication-title: Commun. ACM doi: 10.1145/359156.359164 – start-page: 585 year: 2008 ident: 10.1016/j.robot.2015.02.007_br000095 article-title: State space sampling of feasible motions for high performance mobile robot navigation in highly constrained environments – start-page: 2138 year: 1994 ident: 10.1016/j.robot.2015.02.007_br000110 article-title: Randomized preprocessing of configuration for fast path planning – volume: 12 start-page: 566 issue: 4 year: 1996 ident: 10.1016/j.robot.2015.02.007_br000115 article-title: Probabilistic roadmaps for path planning in high-dimensional configuration spaces publication-title: IEEE Trans. Robot. Autom. doi: 10.1109/70.508439 – start-page: 4307 year: 2011 ident: 10.1016/j.robot.2015.02.007_br000145 article-title: Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms – ident: 10.1016/j.robot.2015.02.007_br000120 – volume: 14 start-page: 390 issue: 3 year: 1998 ident: 10.1016/j.robot.2015.02.007_br000080 article-title: Sandros: a dynamic graph search algorithm for motion planning publication-title: IEEE Trans. Robot. Autom. doi: 10.1109/70.678449 – volume: 2 start-page: 56 year: 2014 ident: 10.1016/j.robot.2015.02.007_br000090 article-title: Sampling-based robot motion planning: a review publication-title: IEEE Access doi: 10.1109/ACCESS.2014.2302442 – start-page: 36 year: 2005 ident: 10.1016/j.robot.2015.02.007_br000170 article-title: Current issues in sampling-based motion planning – start-page: 7965 year: 2005 ident: 10.1016/j.robot.2015.02.007_br000130 article-title: Improving the efficiency of rapidly-exploring random trees using a potential function planner – volume: 30 start-page: 846 issue: 7 year: 2011 ident: 10.1016/j.robot.2015.02.007_br000050 article-title: Sampling-based algorithms for optimal motion planning publication-title: Int. J. Robot. Res. doi: 10.1177/0278364911406761 – ident: 10.1016/j.robot.2015.02.007_br000070 – start-page: 1887 year: 2013 ident: 10.1016/j.robot.2015.02.007_br000155 article-title: Adaptive potential guided directional-RRT – volume: 19 start-page: 660 issue: 2 year: 2014 ident: 10.1016/j.robot.2015.02.007_br000075 article-title: An shortest path algorithm based on delaunay triangulation publication-title: IEEE/ASME Trans. Mechatronics doi: 10.1109/TMECH.2013.2252076 – volume: 18 start-page: 1119 issue: 11 year: 1999 ident: 10.1016/j.robot.2015.02.007_br000030 article-title: Motion planning: a journey of robots, molecules, digital actors, and other artifacts publication-title: Int. J. Robot. Res. doi: 10.1177/02783649922067753 |
| SSID | ssj0003573 |
| Score | 2.560418 |
| Snippet | The sampling-based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 1 |
| SubjectTerms | Bidirectional trees Motion planning Optimal path planning RRT Sampling-based algorithms |
| Title | Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments |
| URI | https://dx.doi.org/10.1016/j.robot.2015.02.007 |
| Volume | 68 |
| WOSCitedRecordID | wos000352669500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 customDbUrl: eissn: 1872-793X dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0003573 issn: 0921-8890 databaseCode: AIEXJ dateStart: 19950201 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9NAEF6FlgMcUHmJAkV74GZcxa73dYxQUcuhQlCkcLLW9lq4cp3IdqL0zB9ndtfebJWqAiQuVmRlnc3M55nZ0cx8CL1PMqbHirMQTm1xmHCiQqEKEU6VUDxnshBFYsgm2MUFn8_Fl8nk19gLs65Z0_DNRiz_q6rhHihbt87-hbrdQ-EGfAalwxXUDtc_Uvy5G7LZB1llXZbN97VyWRX1Tahc3R04qkK3l7RKmbkMwQIsyLVuKDHkPppj2lAaBUO1eq02QV4bbmsIVP0mOT_I_brIFm76s1z1um9CV9p23nR0k2uFo77hFA5mP8EpB2errpOVQ-vsRprs9g_ZydbPTkRkW0VlU2Y7bTM29xhHIeeWJ_RYWcvLGYT6wpADO9NsGXcG2xp5Ttoa6B3zbzMRV8et_p-6bo_Ygaxs6-1cDeI3vQu9iUhzQkAY9QDtx4wIsO77s_PT-Wfn0E-ILVQYdz0OrzJlgjs_dXeA4wUtlwfoyXDawDOLkqdooppn6LE3g_I5Wnt4wbfwgnfwgi1esMELBrzgAS_Y4gWPeMFVgwe8YIcX7OPlBfr-6fTy41k4kHGEOcSsfZiLuNQteySXvCR8KglTSTZVXNCScl7K-ETAi1_kjFCdBSCUx6WkcPqI4UQNQeVLtNcsGvUKYZlEBRECQkl4BMhfMFGWlGYZLbJcCX6I4lGCaT5MqteEKXU6liRepUbsqRZ7Oo1TEPsh-uAWLe2glvu_TkfVpEOsaQWcApbuW_j6Xxe-QY-2L8hbtNe3K3WEHubrvuradwPmfgOpGKza |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Intelligent+bidirectional+rapidly-exploring+random+trees+for+optimal+motion+planning+in+complex+cluttered+environments&rft.jtitle=Robotics+and+autonomous+systems&rft.au=Qureshi%2C+Ahmed+Hussain&rft.au=Ayaz%2C+Yasar&rft.date=2015-06-01&rft.pub=Elsevier+B.V&rft.issn=0921-8890&rft.eissn=1872-793X&rft.volume=68&rft.spage=1&rft.epage=11&rft_id=info:doi/10.1016%2Fj.robot.2015.02.007&rft.externalDocID=S0921889015000317 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0921-8890&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0921-8890&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0921-8890&client=summon |