In this scenario, the task is to verify the applicability of the
RRT-K and RRT-MP methods in environments with obstacles.
Here, the environment has the same bounding box as in the
Plane scenario, and it contains three steps which divide the
environment into two areas. The task of the motion planning is
to find a trajectory to overcome these steps. The influence of the
vocabulary of motion primitives on the quality of the planning
process is studied. Therefore, RRT-MP is tested in two variants:
RRT-MP-r and RRT-MP-a. Both are used with the same primitives:
‘go-left’, ‘go-right’, ‘go-back’ and they differ in the fourth primitive.
The RRT-MP-r method is equipped with a ‘raise-head’ primitive;
while RRT-MP-a uses the ‘go-ahead’ primitive instead. The
difference between RRT-MP-r and RRT-MP-a is depicted in Fig. 6.