Batch Informed Trees (BIT*)

TL;DR

This paper explains and demonstrates BIT*, a fast path planning algorithm for complex obstacle environments, comparing its performance to RRT* through simulations.

Contribution

It provides a clear description, graphical illustration, and simulation comparison of the newly introduced BIT* algorithm.

Findings

BIT* converges faster than RRT* in complex environments

Simulation results show improved efficiency of BIT*

BIT* maintains optimality properties similar to RRT*

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*).