Batch Informed Trees (BIT*)

02/22/2023

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by   James Swedeen, et al.

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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 of BIT*. The work includes a description of the algorithms that inspired BIT*, a description of BIT* and how BIT* operates, and simulation results where BIT* is compared to Optimal Rapidly-exploring Random Trees (RRT*).