| Autor: |
Bera, Titas, Ghose, Debasish, Suresh, Sundaram |
| Rok vydání: |
2017 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
In this paper we investigate the asymptotic optimality property of a randomized sampling based motion planner, namely RRT. We prove that a RRT planner is not an asymptotically optimal motion planner. Our result, while being consistent with similar results which exist in the literature, however, brings out an important characteristics of a RRT planner. We show that the degree distribution of the tree vertices follows a power law in an asymptotic sense. A simulation result is presented to support the theoretical claim. Based on these results we also try to establish a simple necessary condition for sampling based motion planners to be asymptotically optimal. |
| Databáze: |
arXiv |
| Externí odkaz: |
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