Visibility-based probabilistic roadmaps for motion planning

This paper presents a variant of probabilistic roadmap methods (PRM) that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the conŽ guration space into visibility domains in order to produce small roadmaps, called visibility roadmaps. Our algorithm integrates an original termination condition related to the volume of the free space covered by the roadmap. The planner has been implemented within a software platform allowing us to address a large class of mechanical systems. Experiments show the efŽ ciency of the approach, in particular for capturing narrow passages of collision-free conŽ guration spaces.