Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 26, Issue 4, Pages 635-646Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2010.2049527
Keywords
Costmap planning; path quality; sampling-based; motion planning
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Funding
- French National Research Agency
- European Community [216239]
- Spanish Ministry of Science and Innovation [DPI2007-60858]
- Consejo Superior de Investigaciones Cientificas
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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.
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