Quasi-Randomized Path Planning
نویسندگان
چکیده
We propose the use of quasi-random sampling techniques for path planning in high-dimensional conng-uration spaces. Following similar trends from related numerical computation elds, we show several advantages ooered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two quasi-random variants of PRM-based planners are proposed: 1) a classical PRM with quasi-random sampling , and 2) a quasi-random Lazy-PRM. Both have been implemented, and are shown through experiments to ooer some performance advantages in comparison to their randomized counterparts.
منابع مشابه
Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate and simpler steps : first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic ...
متن کاملEfficient Bidirectional Path Tracing by Randomized Quasi-Monte Carlo Integration
As opposed to Monte Carlo integration the quasi-Monte Carlo method does not allow for an error estimate from the samples used for the integral approximation and the deterministic error bound is not accessible in the setting of computer graphics, since usually the integrands are of unbounded variation. We investigate the application of randomized quasi-Monte Carlo integration to bidirectional pa...
متن کاملDeformable Volumes in Path Planning Applications
This paper addresses the problem of path planning for a class of deformable volumes under fairly general manipulation constraints. The underlying geometric model for the volume is provided by a mass-spring representation. It is augmented by a realistic mechanical model. The latter permits the computation of the shape of the considered object with respect to the grasping constraints by minimizin...
متن کاملA Comparative Study of Modified Best-First and Randomized Algorithms for Image-Based Path-Planning
In this paper, we propose three types of sensorbased path-planning algorithms and compare them as the image-based path-planning algorithm for a huge search space. In the general image-based path-planning, a camera mounted on a tip of a manipulator is seeking for an objective image while the manipulator is controlled in a joint space. As long as the number of degrees-of-freedom of a manipulator ...
متن کاملPath planning for planar articulated robots using configuration spaces and compliant motion
This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...
متن کامل