An empirical study of optimal motion planning

Jingru Luo; Kris Hauser

doi:10.1109/IROS.2014.6942793

An empirical study of optimal motion planning

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a systematic benchmarking comparison between optimal motion planners. Six planners representing the categories of sampling-based, grid-based, and trajectory optimization methods are compared on synthetic problems of varying dimensionality, number of homotopy classes, and width and length of narrow passages. Performance statistics are gathered on success and convergence rates, and performance variations with respect to geometric characteristics are analyzed. Based on this analysis, we recommend planners that are likely to perform well for certain problem classes, and make recommendations for future planning research.

Original language	English (US)
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1761-1768
Number of pages	8
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6942793
State	Published - Oct 31 2014
Externally published	Yes
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: Sep 14 2014 → Sep 18 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	9/14/14 → 9/18/14

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Online availability

10.1109/IROS.2014.6942793

Library availability

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Cite this

Luo, J., & Hauser, K. (2014). An empirical study of optimal motion planning. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1761-1768). Article 6942793 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942793

An empirical study of optimal motion planning. / Luo, Jingru; Hauser, Kris.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1761-1768 6942793 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Luo, J & Hauser, K 2014, An empirical study of optimal motion planning. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942793, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 1761-1768, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6942793

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An empirical study of optimal motion planning

Abstract

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