Advanced Batch Informed Trees (ABIT*)
ABIT* is now part of the Open Motion Planning Library (OMPL). You can find details on how to download and install OMPL on their website.
Advanced BIT* (ABIT*) is an almost-surely asymptotically optimal path planner. It views the planning problem as the two subproblems of approximation and search. This perspective allows it use advanced graph-search techniques, such as inflation and truncation. ABIT* outperforms other almost-surely asymptotically optimal planners (e.g., RRT* and BIT*) by finding initial solutions quickly and converging to the optimum in an anytime manner. The benefits of ABIT* were also demonstrated on NASA/JPL-Caltech's Axel Rover System.
- D.Phil. Thesis
- University of Oxford
- Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)