Empirical Sampling of Path Sets for Local Area Motion Planning
نویسندگان
چکیده
We consider the problem of online planning for a mobile robot among obstacles, where it is impractical to test all possible future paths. One approach is for the runtime task to test some subset of the possible paths and select a path that does not collide with obstacles while advancing the robot toward its goal. Performance depends on the choice of path set. In this paper we assume the path set is fixed and chosen offline. By randomly sampling the space of path sets we discover effective path sets—comparable or superior to the best previously suggested approaches. In addition, testing large numbers of randomly generated path sets yields some insights on the relation of robot performance to the choice of path set.
منابع مشابه
Constructing probabilistic roadmaps with powerful local planning and path optimization
This paper describes a new approach to probabilistic roadmap construction for path planning. The novel feature of the planner is that it uses a powerful local planner to produce highly connected roadmaps and path optimization to maintain the rapid query processing by a fast local operator. While most previous approaches obtain good roadmaps by advanced sampling methods, the presented approach c...
متن کامل3D Motion Planning for Steerable Needles using Path Sets
INTRODUCTION Bevel-tipped flexible needles can be steered in soft tissue to clinical targets along curved paths in 3D while avoiding critical structures. Duty-cycled rotation [1] during insertion allows for control of the curvature of the needle. These capabilities of 3D steerable needles make it potentially suitable for applications such as deep brain stimulation (DBS) and drug delivery to bra...
متن کاملCCQ: Efficient Local Planning Using Connection Collision Query
We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε , a given threshold. O...
متن کاملEfficient Local Planning using Connection Collision Query
We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these configurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε , a given threshold. O...
متن کاملOn the Fundamental Relationships Among Path Planning Alternatives
Robotic motion planning aspires to match the ease and efficiency with which humans move through and interact with their environment. Yet state of the art robotic planners fall short of human abilities; they are slower in computation, and the results are often of lower quality. One stumbling block in traditional motion planning is that points and paths are often considered in isolation. Many pla...
متن کامل