dave lattanzi’s rrt algorithm. general concept use dictionaries for trees create a randomized...
TRANSCRIPT
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Dave Lattanzi’s RRT Algorithm
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General Concept
• Use dictionaries for trees• Create a randomized stack of nodes• Iterate through stack• “Extend” each tree towards last node• Check for intersections at each step
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Main Function
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“Extend” Function
• Build a dictionary of nodes in tree and their distances to the random node
• Search dictionary to get nearest node – Almost certainly not optimal
• Call “step” until trapped, goal, or found path• Check for intersections after each step– Doesn’t return for intersection
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“Extend” Function
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“Step” Function
• Finds all neighbors of a node & their distances to random node
• Finds the neighbor with the minimum distance, passes that to Extend as new node
• If the specified node is the closer than all neighbors to the random node, the tree is declared “trapped”
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“Step” and “FindIntersection”
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Conclusions:
• Tight corners are an issue
• Fast (usually)– Time is random
• Could be optimized