Rapidly Exploring Random Tree Algorithm-Based Path Planning for Worm-Like Robot

Rapidly-Exploring Random Trees: A New Tool for Path Planning

Adapting a Rapidly-Exploring Random Tree for Automated Planning

Rapidly-exploring random trees (RRTs) are data structures and search algorithms designed to be used in continuous path planning problems. They are one of the most successful state-of-the-art techniques as they offer a great degree of flexibility and reliability. However, their use in other search domains has not been thoroughly analyzed. In this work we propose the use of RRTs as a search algor...

Robotic Path Planning using Rapidly exploring Random Trees

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

3D Motion Planning for Robot-Assisted Active Flexible Needle Based on Rapidly-Exploring Random Trees

An active flexible needle is a self-actuating needle that can bend in the tissue and reach the clinical targets while avoiding anatomic obstacles. In robot-assisted needlebased medical procedures, motion planning is a vital aspect of operations. It is challenging due to the nonholonomic motion of the needle and the presence of anatomic obstacles and sensitive organs that must be avoided. We pro...

Robot Path Planning Using Cellular Automata and Genetic Algorithm

In path planning Problems, a complete description of robot geometry, environments and obstacle are presented; the main goal is routing, moving from source to destination, without dealing with obstacles. Also, the existing route should be optimal. The definition of optimality in routing is the same as minimizing the route, in other words, the best possible route to reach the destination. In most...