Toward Derandomizing PRM Planners

Abstract : Probabilistic roadmap methods (PRM) have been successfully applied in motion planning for robots with many degrees of freedom. Many recent PRM approaches have demonstrated improved performance by concentrating samples in a nonuniform way. This work replace the random sampling by the deterministic one. We present several implementations of PRM-based planners (multiple-query, single-query and Lazy PRM) and lattice-based roadmaps. Deterministic sampling can be used in the same way than random sampling. Our work can be seen as an important part of the research in the uniform sampling field. Experimental results show performance advantages of our approach.
Document type :
Conference papers
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108932
Contributor : Christine Carvalho de Matos <>
Submitted on : Monday, October 23, 2006 - 12:57:18 PM
Last modification on : Thursday, May 24, 2018 - 3:59:23 PM

Links full text

Identifiers

Citation

Abraham Sánchez Lopez, René Zapata. Toward Derandomizing PRM Planners. MICAI: Mexican International Conference on Artificial Intelligence, Apr 2004, Mexico City, Mexico. pp.911-920, ⟨10.1007/978-3-540-24694-7_94⟩. ⟨lirmm-00108932⟩

Share

Metrics

Record views

75