Improving Roadmap Quality through Connected Component Expansion

نویسندگان

  • Juan Burgos
  • Jory Denny
  • Nancy M. Amato
چکیده

Motion planning is the problem of computing valid paths through an environment. However, because computing exact solutions is intractable, sampling-based algorithms, such as Probabilistic RoadMaps (PRMs), have gained popularity. PRMs compute an approximate mapping of the planning space by sacrificing completeness in favor of efficiency. However, these algorithms have certain bottlenecks that hinder performance which causes difficulty mapping narrow or crowded regions, and the cost of nearest-neighbor queries, which is the asymptotic bottleneck of these algorithms. Thus, roadmaps may fail to efficiently capture the connectivity of the planning space. In this paper, we present a set of connected component (CC) expansion algorithms, each with different biases (random expand, expand to the nearest CC, expand away from the host CC, and expand along the medial-axis) and expansion node selection policies (random, farthest from CC’s centroid, and difficult nodes), that create a linked-chain of configurations designed to enable efficient connection of CCs. Given an a priori roadmap quality requirement in terms of roadmap connectivity, we show that when our expansion methods augment PRMs, we reach the required roadmap connectivity in less time.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Region Roadmap Connection in Parallel Sampling-Based Motion Planning

In today’s society, parallel computing is commonplace. Motion planning is a computationally complex problem in which solution methodologies can exploit parallelism for complex problems. In one approach to parallel sampling-based motion planning, the environment is divided among processors so that roadmaps can be constructed for each region of the environment independently. Afterwards, the roadm...

متن کامل

Improving the connectivity of PRM roadmaps[l]

In this paper we investigate how the coverage and connectedness of PRM roadmaps can be improved by adding a connected component (CC) connection step to the general PRM framework. We provide experimental results establishing that significant roadmap improvements can be obtained relatively efficiently by utilizing a suite of CC connection methods, which include variants of existing methods such a...

متن کامل

Probabilistic Roadmaps - Putting It All Together

Given a robot and a workspace, probabilistic roadmap planners (PRMs) build a roadmap of paths sampled from the workspace. A roadmap node is a single collision{free robot con guration, randomly generated. A roadmap edge is a sequence of collision{free robot con gurations which interpolate the path from one roadmap node to another. Queries to the roadmap are (start, goal) pairs. If both the start...

متن کامل

Roadmap for Lean implementation in Indian automotive component manufacturing industry: comparative study of UNIDO Model and ISM Model

The demands for automobiles increased drastically in last two and half decades in India. Many global automobile manufacturers and Tier-1 suppliers have already set up research, development and manufacturing facilities in India. The Indian automotive component industry started implementing Lean practices to fulfill the demand of these customers. United Nations Industrial Development Organization...

متن کامل

A Roadmap for Establishing Trust Management Strategy in E-Commerce Services Using Quality Based Assessment

Trust has been reported as a key role in ebusiness, especially for a monetary based system like ecommerce. Therefore, many previous studies have been conducted to investigate the antecedents and consequences of consumer trust. But there has been little work done on establishing sensible solutions for leveraging consumer trust. Furthermore, previous studies in managerial trust have not demonstra...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2013