Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E. Kavraki,P. Svestka,Jean-Claude Latombe,Mark H. Overmars +3 more
- Vol. 12, Iss: 4, pp 566-580
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TLDR
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).Abstract:
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. 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).read more
Citations
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MOD-RRT*: A Sampling-Based Algorithm for Robot Path Planning in Dynamic Environment
Jie Qi,Hui Yang,Haixin Sun +2 more
TL;DR: An algorithm termed as multiobjective dynamic rapidly exploring random (MOD-RRT*), which is suitable for robot navigation in unknown dynamic environment, which is composed of a path generation procedure and a path replanning one.
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A Review of Global Path Planning Methods for Occupancy Grid Maps Regardless of Obstacle Density
TL;DR: The contribution of this work includes the definition of metrics for path planning benchmarks, actual benchmarks of the most common global path planning algorithms and an educated algorithm parameterization based on a global obstacle density coefficient.
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Time-Optimal Maneuver Planning in Automatic Parallel Parking Using a Simultaneous Dynamic Optimization Approach
Bai Li,Kexin Wang,Zhijiang Shao +2 more
TL;DR: This paper concerns planning time-optimal parallel parking maneuvers in a straightforward, accurate, and purely objective way and adopted IPM-based simultaneous dynamic optimization method, which can deal with any user-specified demand provided that it can be explicitly described.
Proceedings ArticleDOI
A probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach
TL;DR: The experimental results show that the new sampling scheme is successful in identifying critical deformations of the object along solution paths which results in a significant reduction of the computation time.
Journal ArticleDOI
Humanoid Robot Locomotion and Manipulation Step Planning
TL;DR: The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each step, following an input collision-free guide path, and making calls to an optimization-based inverse kinematics solver under static equilibrium constraints.
References
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Robot Motion Planning
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Journal ArticleDOI
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