Multi-Tree Guided Efficient Robot Motion Planning
Zhirui Sun, Jiankun Wang, Max Q.‐H. Meng
Abstract
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in the state space. However, they perform not well in many complex environments since the motion planning needs to simultaneously consider the geometry constraints and differential constraints. In this article, we propose a novel robot motion planning algorithm that utilizes multi-tree to guide the exploration and exploitation. The proposed algorithm maintains more than two trees to search the state space at first. Each tree will explore the local environments. The tree starts from the root will gradually collect information from other trees and grow towards the goal state. This simultaneous exploration and exploitation method can quickly find a feasible trajectory. We compare the proposed algorithm with other popular motion planning algorithms. The experiment results demonstrate that our algorithm performs better on different evaluation metrics.