arXiv cs.RO·· 6 days agoAI score58
Can RRT* work on non-flat terrain triangle meshes?
Summary
The author examines the applicability of RRT* to triangle-mesh terrain, noting that the original RRT* cannot run directly on a mesh because the surface has zero volume, so uniform sampling never hits it. The proposed Mesh RRT* solved every run on terrain with slopes up to 75 degrees, but its cost function is biased: after 30,000 iterations the reported cost is on average up to 2.7% below the exact geodesic, and the returned path is on average 0.1-0.5% longer.
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Source: arXiv cs.RO · arxiv.org
Planning and decision makingData and simulationResearch papers#Research#Planning and decision-making#Data and simulation
Part of the event: Mesh RRT* enables path planning on triangular mesh terrain