arXiv Robotics — research abstracts· Otobong Jerome, Tiago Nascimento·· 5 days agoSignalEditorial score75
Does RRT* Work on Uneven Terrain Meshes?
Does RRT* Work on Uneven Terrain Meshes?
Summary
This research investigates the applicability of the optimal Rapidly-exploring Random Tree (RRT*) algorithm on uneven terrain represented as triangle meshes in three-dimensional space.
Editorial context
The authors demonstrate that standard RRT* fails on triangle-mesh terrains due to zero-volume sampling issues and propose a corrected 'Mesh RRT*' formulation that achieves geodesic path lengths within 0.07-0.16% of exact values, significantly improving upon the naive chord-based approach which underestimated costs by up to 2.7%.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org