| IP개요 |
Motion planning algorithms are essential for autonomoussystems operating in dynamically changing and complexenvironments, including automated vehicles, roboticmanipulators, and drones. Among these algorithms, Rapidly-exploring Random Tree (RRT) and its advancedderivatives such as RRT* and RRT-connect are widelyused due to their probabilistic completeness and optimalityguarantees. However, the practical deployment of thesealgorithms is challenged by their significant computationalload, especially regarding nearest neighbor (NN) searchesand frequent collision checks, which dominate computationtime and memory bandwidth. |
