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
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.
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