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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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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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creator	Sanchez, A. Arenas, J.A. Zapata, R.
description	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_str_mv	10.1109/IRDS.2002.1041611
format	conference_proceeding
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Systems</topic><topic>Exact sciences and technology</topic><topic>Motion planning</topic><topic>Orbital robotics</topic><topic>Path planning</topic><topic>Pattern recognition. Digital image processing. 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identifier	ISBN: 0780373987
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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
title	Non-holonomic path planning using a quasi-random PRM approach
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