TY - GEN
T1 - Lazy collision checking in asymptotically-optimal motion planning
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Asymptotically-optimal sampling-based motion planners, like RRT∗, perform vast amounts of collision checking, and are hence rather slow to converge in complex problems where collision checking is relatively expensive. This paper presents two novel motion planners, Lazy-PRM∗ and Lazy-RRG∗, that eliminate the majority of collision checks using a lazy strategy. They are sampling-based, any-time, and asymptotically complete algorithms that grow a network of feasible vertices connected by edges. Edges are not immediately checked for collision, but rather are checked only when a better path to the goal is found. This strategy avoids checking the vast majority of edges that have no chance of being on an optimal path. Experiments show that the new methods converge toward the optimum substantially faster than existing planners on rigid body path planning and robot manipulation problems.
AB - Asymptotically-optimal sampling-based motion planners, like RRT∗, perform vast amounts of collision checking, and are hence rather slow to converge in complex problems where collision checking is relatively expensive. This paper presents two novel motion planners, Lazy-PRM∗ and Lazy-RRG∗, that eliminate the majority of collision checks using a lazy strategy. They are sampling-based, any-time, and asymptotically complete algorithms that grow a network of feasible vertices connected by edges. Edges are not immediately checked for collision, but rather are checked only when a better path to the goal is found. This strategy avoids checking the vast majority of edges that have no chance of being on an optimal path. Experiments show that the new methods converge toward the optimum substantially faster than existing planners on rigid body path planning and robot manipulation problems.
UR - http://www.scopus.com/inward/record.url?scp=84938248529&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2015.7139603
DO - 10.1109/ICRA.2015.7139603
M3 - Conference contribution
AN - SCOPUS:84938248529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2951
EP - 2957
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -