Deep RRT*
DOI:
https://doi.org/10.1609/socs.v15i1.21803Keywords:
Machine And Deep Learning In SearchAbstract
Sampling-based motion planning algorithms such as Rapidly exploring Random Trees (RRTs) have been used in robotic applications for a long time. In this paper, we propose a method that combines deep learning with RRT* method. We use a neural network to learn a sample strategy for RRT*.We evaluate Deep RRT* in a collection of 2D scenarios. The results demonstrate that our algorithm could find collision-free paths efficiently and fast, and can be generalized to unseen environments.Downloads
Published
2022-07-17
Issue
Section
Student Papers