Non-Holonomic Path Planning Using a Quasi-Random PRM Approach

Abraham Sánchez Lopez; Abraham Arenas B.; René Zapata

doi:10.1109/IRDS.2002.1041611

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Non-Holonomic Path Planning Using a Quasi-Random PRM Approach

Abraham Sánchez Lopez, Abraham Arenas B. et René Zapata

IEEE International Conference on Intelligent Robots and Systems, pp.2305-2310

IROS: Intelligent Robots and Systems (Lausanne, Switzerland, 2002)

2002

DOI: https://doi.org/10.1109/IRDS.2002.1041611

Résumé

The aim of this article is to compare experimentally the use of quasi-random sampling techniques for nonholonomic path planning. The experiments are evaluated in the context of the probabilistic roadmap methods (PRM). Two quasi-random variants of PRM-based planners are proposed: (1) a classical PRM with quasi-random sampling, and (2) a quasi-random lazy-PRM. Both have been implemented for car-like robots, and are shown through experimental results to offer some performance advantages in comparison to their randomized counterparts.

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Titre: Non-Holonomic Path Planning Using a Quasi-Random PRM Approach
Créateurs - sans rôle: Abraham Sánchez Lopez - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Abraham Arenas B. - Facultad de Ciencias de la Computación [Puebla]
René Zapata - Robotique mobile pour l'exploration de l'environnement
Détails de publication: IEEE International Conference on Intelligent Robots and Systems, pp.2305-2310
Colloque: IROS: Intelligent Robots and Systems (Lausanne, Switzerland, 2002)
Identifiants: 9946029809311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00268562