Publication

Sampling-based path planning on configuration-space costmaps

Journal Article (2010)

Journal

IEEE Transactions on Robotics

Pages

635-646

Volume

26

Number

4

Doc link

http://dx.doi.org/10.1109/TRO.2010.2049527

File

Download the digital copy of the doc pdf document

Authors

Projects associated

Abstract

This paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. It combines the exploratory strength of the Rapidly exploring Random Tree (RRT) algorithm with transition tests used in stochastic optimization methods to accept or to reject new potential states. The planner is analyzed and shown to compute low-cost solutions with respect to a path-quality criterion based on the notion of mechanical work. A large set of experimental results is provided to demonstrate the effectiveness of the method. Current limitations and possible extensions are also discussed.

Categories

robots.

Author keywords

costmap planning, path quality, sampling-based motion planning

Scientific reference

L. Jaillet, J. Cortés and T. Simeon. Sampling-based path planning on configuration-space costmaps. IEEE Transactions on Robotics, 26(4): 635-646, 2010.