"Motion planning; rapidly exploring random trees"@en . "Von\u00E1sek, Vojt\u011Bch" . "4"^^ . "In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to address the narrow passage issue. The introduced method employs a guiding path to steer the tree growth towards a given goal. The main idea of the proposed approach stands in a preference of the sampling of the configuration space C along a given guiding path instead of sampling of the whole space. While for a low-dimensional C the guiding path can be found as a geometric path in the robot workspace, such a path does not provide useful information for efficient sampling of a high-dimensional C. We propose an iterative scaling approach to find a guiding path in such high-dimensional configuration spaces. The approach starts with a scaled geometric model of the robot to a fraction of its original size for which a guiding path is found using the RRT algorithm. Then, such a path is iteratively used in the proposed RRT-Path algorithm for a larger robot up to its original size"@en . . "Krajn\u00EDk, Tom\u00E1\u0161" . "Faigl, Jan" . . "In this paper, a novel sampling schema for Rapidly Exploring Random Trees (RRT) is proposed to address the narrow passage issue. The introduced method employs a guiding path to steer the tree growth towards a given goal. The main idea of the proposed approach stands in a preference of the sampling of the configuration space C along a given guiding path instead of sampling of the whole space. While for a low-dimensional C the guiding path can be found as a geometric path in the robot workspace, such a path does not provide useful information for efficient sampling of a high-dimensional C. We propose an iterative scaling approach to find a guiding path in such high-dimensional configuration spaces. The approach starts with a scaled geometric model of the robot to a fraction of its original size for which a guiding path is found using the RRT algorithm. Then, such a path is iteratively used in the proposed RRT-Path algorithm for a larger robot up to its original size" . . "A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path"@en . "A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path"@en . . . . . . "A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path" . . "A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path" . "RIV/68407700:21230/11:00182177!RIV12-MSM-21230___" . "184125" . . . . "P\u0159eu\u010Dil, Libor" . "RIV/68407700:21230/11:00182177" . . . . . "[BEE552B72482]" . . . "4"^^ . "21230" . . . "P(1M0567), P(7E08006), S" .