RRT-blossom: RRT with a local flood-fill behavior
Maciej Kalisiak, Michiel van de Panne · 2006
This paper proposes a new variation of the RRT planner which demonstrates good performance on both loosely-constrained and highly-constrained environments. The key to the planner is an implicit flood-fill-like mechanism, a technique that is well suited to escaping local minima in highly constrained problems. We show sample results for a variety of problems and environments, and discuss future improvements