ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time
Francesco Grothe,Valentin N. Hartmann,Andreas Orthey,Marc Toussaint,Francesco Grothe,Valentin N. Hartmann,Andreas Orthey,Marc Toussaint
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT*(ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, which is asymptotically optimal with respect to the shortest arrival time. We experimentally evaluate ST-RRT* in both abstract (2D disk, 8D disk in clutt...
