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Quasi-Randomized Path Planning (2001)
| Venue: | In Proc. IEEE Int’l Conf. on Robotics and Automation |
| Citations: | 74 - 8 self |
BibTeX
@INPROCEEDINGS{Branicky01quasi-randomizedpath,
author = {Michael S. Branicky and Steven M. Lavalle and Kari Olson and Libo Yang},
title = {Quasi-Randomized Path Planning},
booktitle = {In Proc. IEEE Int’l Conf. on Robotics and Automation},
year = {2001},
pages = {1481--1487}
}
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Abstract
We propose the use of quasi-random sampling techniques for path planning in high-dimensional conguration spaces. Following similar trends from related numerical computation elds, we show several advantages oered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two quasi-random variants of PRM-based planners are proposed: 1) a classical PRM with quasi-random sampling, and 2) a quasi-random Lazy-PRM. Both have been implemented, and are shown through experiments to oer some performance advantages in comparison to their randomized counterparts. 1 Introduction Over two decades of path planning research have led to two primary trends. In the 1980s, deterministic approaches provided both elegant, complete algorithms for solving the problem, and also useful approximate or incomplete algorithms. The curse of dimensionality due to high-dimensional conguration spaces motivated researchers from the 199...
Keyphrases
quasi-randomized path planning high-dimensional conguration space path planning related numerical computation eld classical prm prm-based planner complete algorithm several advantage deterministic approach quasi-random sampling incomplete algorithm quasi-random lazy-prm primary trend similar trend probabilistic roadmap performance advantage useful approximate path planning research quasi-random variant quasi-random sampling technique
