RRT and the piano mover’s problem
2.2
Adjustments to the RRT algorithm to approach PMP
2.21 Changes addressing the first difference
In order to adjust towards the first difference, a new parameter ‘size’ is passed into the algorithm which contains the length and width of the object to be moved. The x, y coordinates serve as the centre of this object. The collision-checking function needs to be updated as well, in order to check collisions for blocks instead of points. The rotation of object is not considered at this stage.
Fig.7: basic RRT algorithm implemented 8
Fig.8: adapted RRT with length=width=10
Fig.9: adapted RRT with length=width=20
8 See https://github.com/motion-planning/rrt-algorithms.
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