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Some Computed Examples
Below are some pictures, animations, and movies of computed solution paths using RRT-Connect to a variety example planning queries. Other examples can be found at the RRT Page at UIUC.
Basic Examples (2-3 DOF)
Rotating and Translating L-shaped robot  |
Translating Square robot  |
3D Rigid Body / The "Piano Mover's Problem" (6 DOF)
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A balanced, bidirectional RRT-Connect path planner was used to
solve the "Alpha Puzzle" motion planning benchmark. This
problem is a well-known difficult problem due to the very narrow passage in
the configuration space. My implementation was the first planner to
consistently solve this problem. (The fastest recorded running time
to date took approximately 8 minutes on a 1.7 GHz PentiumIII PC).
Original Model courtesy of: Boris Yamrom, Computer Graphics and Systems Group, GE CRD, and made available by the Parasol lab at Texas A&M. |
References
- Download papers and further information.