Journal ArticleDOI
Directional Sampling-Based Generalized Shape Expansion for Accelerated Motion Planning in 2-D Obstacle-Cluttered Environments
Vrushabh Zinage,Satadal Ghosh +1 more
- Vol. 5, Iss: 3, pp 1067-1072
Reads0
Chats0
TLDR
This letter proposes two sampling schemes - basic and augmented directional sampling - and presents GSE-D andGSE-AD algorithms, respectively, as expansion over the GSE, in terms of computational time efficiency and shortest path cost.Abstract:
Recently proposed Generalized Shape Expansion (GSE) algorithm for planning of shortest collision-free path in 2-D environments has shown significant promise in improvement of its performance over several seminal algorithms from existing literature. Recognizing that a suitable directional sampling feature could potentially enhance the performance of the GSE algorithm further, this letter proposes two sampling schemes - basic and augmented directional sampling - and presents GSE-D and GSE-AD algorithms, respectively, as expansion over the GSE. These algorithms, by default, enjoy the advantages of the GSE. Both the directional sampling schemes enable drawing random sample points with more preference towards the direction of the Goal leading to lower cost of computed shortest path on an average. While the basic directional sampling strategy faces a drawback in computational time when obstacle density in the direction towards the Goal is high, the augmented directional sampling scheme is free of this limitation. Probabilistic analysis and extensive numerical simulation studies show the effectiveness of the GSE-D and GSE-AD in performance in terms of computational time efficiency and shortest path cost when compared with the GSE, other seminal and existing directional algorithms.read more
Citations
More filters
Journal ArticleDOI
A bioinspired path planning approach for mobile robots based on improved sparrow search algorithm
Zhen Zhang,Rui He,Kuo Yang +2 more
TL;DR: A bioinspired path planning approach for mobile robots based on the sparrow search algorithm, which is an intelligent optimization algorithm inspired by the group wisdom, foraging, and anti-predation behaviors of sparrows, is proposed with three new strategies.
Proceedings ArticleDOI
Right-of-Way-based Probabilistic Acceleration Velocity Obstacle
Balaji Gorantla,Satadal Ghosh +1 more
TL;DR: In this article , a second order online reactive motion planner, named R-PAVO, is developed in a probabilistic set-up, in which right-of-way rules posed by regulatory authorities are also embedded.
Proceedings ArticleDOI
Right-of-Way-based Probabilistic Acceleration Velocity Obstacle
TL;DR: In this paper , a second order online reactive motion planner, named R-PAVO, is developed in a probabilistic set-up, in which right-of-way rules posed by regulatory authorities are also embedded.
Posted Content
Mathematical Properties of Generalized Shape Expansion-Based Motion Planning Algorithms.
TL;DR: In this article, a modified version of the generalized shape expansion (GSE*) algorithm, namely GSE* algorithm, is presented to obtain a probabilistically complete and asymptotically optimal generalized shape-based algorithm.
References
More filters
Journal ArticleDOI
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Journal ArticleDOI
Sampling-based algorithms for optimal motion planning
Sertac Karaman,Emilio Frazzoli +1 more
TL;DR: In this paper, the authors studied the asymptotic behavior of the cost of the solution returned by stochastic sampling-based path planning algorithms as the number of samples increases.
Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
Randomized kinodynamic planning
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Posted Content
Sampling-based Algorithms for Optimal Motion Planning
Sertac Karaman,Emilio Frazzoli +1 more
TL;DR: The main contribution of the paper is the introduction of new algorithms, namely, PRM and RRT*, which are provably asymptotically optimal, i.e. such that the cost of the returned solution converges almost surely to the optimum.