Rapidly-exploring random tree

Rapidly-exploring random tree

Rapidly-exploring random tree (RRT) (dt. etwa schnell erkundender zufälliger Baum) ist ein Suchalgorithmus (und dessen zugrunde liegende Baum-Datenstruktur), der hochdimensionale Suchräume zufällig nach möglichen Pfaden absucht. In der Robotik werden der Algorithmus und Variationen davon häufig für Motion planning verwendet, also für die Planung von effizienten Bewegungen, z.B. von Greifarmen.[1]


  1. Lavalle, S.M.: Rapidly-exploring random trees: A new tool for path planning. In: Computer Science Dept, Iowa State University, Tech. Rep. TR. 1998, S. 98–11.

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