Computing multiple guiding paths for sampling-based motion planning - ICAR2019 - RRT-IR - cross

Abstract: Path planning of 3D solid objects leads to search in a six-dimensional configuration space, which can be solved by sampling-based motion planning. The well-known issue of sampling-based planners is the narrow passage problem, which is caused by the presence of small regions of the configuration space that are difficult to cover by random samples. Guidedbased planners cope with this issue by increasing the probability of sampling along an estimated solution (a guiding path). In the case of six-dim