TY - GEN
T1 - UOBPRM
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
AU - Yeh, Hsin Yi
AU - Thomas, Shawna
AU - Eppstein, David
AU - Amato, Nancy M.
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - This paper presents a new sampling method for motion planning that can generate configurations more uniformly distributed on C-obstacle surfaces than prior approaches. Here, roadmap nodes are generated from the intersections between C-obstacles and a set of uniformly distributed fixed-length segments in C-space. The results show that this new sampling method yields samples that are more uniformly distributed than previous obstacle-based methods such as OBPRM, Gaussian sampling, and Bridge test sampling. UOBPRM is shown to have nodes more uniformly distributed near C-obstacle surfaces and also requires the fewest nodes and edges to solve challenging motion planning problems with varying narrow passages.
AB - This paper presents a new sampling method for motion planning that can generate configurations more uniformly distributed on C-obstacle surfaces than prior approaches. Here, roadmap nodes are generated from the intersections between C-obstacles and a set of uniformly distributed fixed-length segments in C-space. The results show that this new sampling method yields samples that are more uniformly distributed than previous obstacle-based methods such as OBPRM, Gaussian sampling, and Bridge test sampling. UOBPRM is shown to have nodes more uniformly distributed near C-obstacle surfaces and also requires the fewest nodes and edges to solve challenging motion planning problems with varying narrow passages.
UR - http://www.scopus.com/inward/record.url?scp=84872288915&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872288915&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385875
DO - 10.1109/IROS.2012.6385875
M3 - Conference contribution
AN - SCOPUS:84872288915
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2655
EP - 2662
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -