Balancing Global Exploration and Local-connectivity Exploitation with Rapidly-exploring Random disjointed-Trees

Abstract

Sampling efficiency in a highly constrained environment has long been a major challenge for sampling-based planners. In this work, we propose Rapidly-exploring Random disjointed-Trees* (RRdT*), an incremental optimal multi-query planner. RRdT* uses multiple disjointed-trees to exploit local-connectivity of spaces via Markov Chain random sampling, which utilises neighbourhood information derived from previous successful and failed samples. To balance local exploitation, RRdT* actively explore unseen global spaces when local-connectivity exploitation is unsuccessful. The active trade-off between local exploitation and global exploration is formulated as a multi-armed bandit problem. We argue that the active balancing of global exploration and local exploitation is the key to improving sample efficient in sampling-based motion planners. We provide rigorous proofs of completeness and optimal convergence for this novel approach. Furthermore, we demonstrate experimentally the effectiveness of RRdT*'s locally exploring trees in granting improved visibility for planning. Consequently, RRdT* outperforms existing state-of-the-art incremental planners, especially in highly constrained environments.Comment: Submitted to IEEE International Conference on Robotics and Automation (ICRA) 201