Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions
نویسندگان
چکیده
منابع مشابه
Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT∗). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art coun...
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In this paper, we present the Bi-directional FMT∗(BFMT∗) algorithm for asymptotically-optimal, sampling-based path planning in cluttered, high-dimensional spaces. Specifically, BFMT∗ performs a twosource, lazy dynamic programming recursion over a set of randomlydrawn samples, correspondingly generating two search trees: one in costto-come space from the initial state and another in cost-to-go s...
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Sampling-based path planning algorithms are well-known because they are able to find a path in a very short period of time, even in high-dimensional spaces. However, they are non-smooth, random paths far away from the optimum. In this paper we introduce a novel improving technique based on the Fast Marching Method which improves in a deterministic, non-iterative way the initial path provided by...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2015
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364915577958