A Simple Experiment on the Eect of Biasing Sampling Distributions for Planning Reaching Motions with RRTs
Marcelo Kallmann · 2007
This paper reports experiments performed with a simple sampling cache mechanism used to bias the configuration sampling of a RRT-based motion planner. The Planner is used for synthesizing reaching motions for a humanlike character performing object relocation tasks in a virtual environment. Experiments are reported showing that the method can significantly reduce the computational time required for planning arm motions.