Batch Informed Trees (BIT*)¶
Authors: James Swedeen, Greg Droge
Published: 2023 ()
Algorithm: BIT*
arXiv: 2302.11670
Summary¶
Abstract¶
Path planning through complex obstacle spaces is a fundamental requirement of many mobile robot applications. Recently a rapid convergence path planning algorithm, Batch Informed Trees (BIT*), was introduced. This work serves as a concise write-up and explanation of BIT*. This work includes a description of BIT* and how BIT* operates, a graphical demonstration of BIT*, and simulation results where BIT* is compared to Optimal Rapidly-exploring Random Trees (RRT*).