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

Abstract : 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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268562
Contributor : Christine Carvalho de Matos <>
Submitted on : Tuesday, April 1, 2008 - 9:27:49 AM
Last modification on : Thursday, May 24, 2018 - 3:59:23 PM

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Abraham Sánchez Lopez, Abraham Arenas B., René Zapata. Non-Holonomic Path Planning Using a Quasi-Random PRM Approach. IROS: Intelligent Robots and Systems, 2002, Lausanne, Switzerland. pp.2305-2310, ⟨10.1109/IRDS.2002.1041611⟩. ⟨lirmm-00268562⟩

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