Useful cycles in probabilistic roadmap graphs

被引：49

作者：

Nieuwenhuisen, D ^{[1
]}

Overmars, MH ^{[1
]}

机构：

[1] Univ Utrecht, Inst Informat & Comp Sci, Utrecht, Netherlands

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307190

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Over the last decade, the probabilistic road map method (PRM) has become one of the dominant motion planning techniques. Due to its random nature, the resulting paths tend to be much longer than the optimal path despite the development of numerous smoothing techniques. Also, the path length varies a lot every time the algorithm is executed. In this paper we present a new technique that results in higher quality (shorter) paths with much less variation between the executions. The technique is based on adding useful cycles to the roadmap graph.

引用

页码：446 / 452

页数：7

共 24 条

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