Clearance based path optimization for motion planning

被引：34

作者：

Geraerts, R ^{[1
]}

Overmars, MH ^{[1
]}

机构：

[1] Univ Utrecht, Inst Comp & Informat Sci, NL-3508 TC 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.2004.1307418

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Many motion planning techniques, like the probabilistic roadmap method (PRM), generate low quality paths. In this paper, we will study a number of different quality criteria on paths in particular length and clearance. We will describe a number of techniques to improve the quality of paths. These are based on a new approach to increase the path clearance. Experiments showed that the heuristics were able to generate paths of a much higher quality than previous approaches.

引用

页码：2386 / 2392

页数：7

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