Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions

  • Terry Taewoong Um
  • Beobkyoon Kim
  • Chansoo Suh
  • Frank Chongwoo Park
Conference paper


Rapidly-Exploring Random Trees (RRT) have been successfully used in motion planning problems involving a wide range of constraints. In this paper we develop a more robust and efficient version of the constrained RRT planning algorithm of [1]. The key idea is based on first constructing RRTs on tangent space approximations of constraint manifold, and performing lazy projections to the constraint manifold when the deviation exceeds a prescribed threshold. Our algorithm maintains the Voronoi bias property characteristic of RRT-based algorithms, while also reducing the number of projections. Preliminary results of a numerical study, together with a discussion of the potential strengths and weaknesses of our algorithm, are presented.

Key words

Rapidly-exploring random tree constrained motion planning lazy projection 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Terry Taewoong Um
    • 1
  • Beobkyoon Kim
    • 1
  • Chansoo Suh
    • 1
  • Frank Chongwoo Park
    • 1
  1. 1.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea

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