Non-holonomic path planning using a quasi-random PRM approach

The aim of this article is to compare experimentally the use of quasi-random sampling techniques for nonholonomic path planning. The experiments are evaluated in the context of the probabilistic roadmap methods (PRM). Two quasi-random variants of PRM-based planners are proposed: (1) a classical PRM...

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Bibliographic Details
Main Authors: Sanchez, A., Arenas, J.A., Zapata, R.
Format: Conference Proceeding
Language:English
Subjects:
Algorithm design and analysis
Applied sciences
Artificial intelligence
Computer science
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Motion planning
Orbital robotics
Path planning
Pattern recognition. Digital image processing. Computational geometry
Programmable control
Road accidents
Robot sensing systems
Robotics
Robustness
Sampling methods
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Summary:The aim of this article is to compare experimentally the use of quasi-random sampling techniques for nonholonomic path planning. The experiments are evaluated in the context of the probabilistic roadmap methods (PRM). 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 for car-like robots, and are shown through experimental results to offer some performance advantages in comparison to their randomized counterparts.
DOI:10.1109/IRDS.2002.1041611