방법 비교

	빠르게 탐색하는 무작위 트리	모델 예측 제어
분야	제어이론	제어이론
계열	Machine learning	Machine learning
기원 연도	1998	1978
창시자	Steven M. LaValle	Jacques Richalet
유형	algorithm	algorithm
원전	LaValle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Iowa State University.	Richalet, J., Rault, A., Testud, J., & Papon, J. (1978). Model predictive heuristic control. Automatica, 14(5), 413-428.
별칭	RRT, Incremental Sampling-based Algorithm	MPC, Receding Horizon Control
관련	3	5
요약	The Rapidly-Exploring Random Tree (RRT) is a motion planning algorithm that builds a tree of feasible paths by iteratively sampling random configurations in the workspace and connecting them to the nearest existing node in the tree. Introduced by LaValle in 1998, RRT is a breakthrough for high-dimensional motion planning, enabling robots to find collision-free paths in complex environments with obstacles, joint limits, and kinematic constraints.	Model Predictive Control (MPC) is an advanced control strategy that uses an explicit process model to predict future system behavior over a finite horizon and solves an optimization problem at each control step. First formalized by Richalet et al. in 1978, MPC has become the dominant approach in process control industries, from chemical plants to autonomous vehicles, because it naturally handles constraints and can optimize multiple objectives simultaneously.