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Posted by on August 12, 2008, 4:06 pm
Hello,
Currently, I am working on a project intended to use a reactive motion
planning algorithm for a robot in a 3D dynamic environment.
Could you please recommend me an algorithm, which would be the most
suitable (most efficient) for this task?
I have a few options:
1) Probabilistic algorithms - Rapidly Exploring Dense Trees (RDTs,
RRTs, family including all variations), PRMs
2) Potential Field, vector field
3) Grid-based approaches, Approximate Cell Decomposition
4) Combination - RRT + vertical cell decomposition, RRT + visibility
graph, etc.
The single-query algorithm / technique should be very fast and
reasonable easy for an implementation.
Thank you!
Chris
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