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.
Type de document :
Communication dans un congrès
IROS: Intelligent Robots and Systems, 2002, Lausanne, Switzerland. IEEE International Conference on Intelligent Robots and Systems, pp.2305-2310, 2002, 〈10.1109/IRDS.2002.1041611〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268562
Contributeur : Christine Carvalho de Matos <>
Soumis le : mardi 1 avril 2008 - 09:27:49
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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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. IEEE International Conference on Intelligent Robots and Systems, pp.2305-2310, 2002, 〈10.1109/IRDS.2002.1041611〉. 〈lirmm-00268562〉

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