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A low dispersion probabilistic roadmaps (LD-PRM) algorithm for fast and efficient sampling-based motion planning

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dc.citedby19
dc.contributor.authorKhaksar W.en_US
dc.contributor.authorHong T.S.en_US
dc.contributor.authorKhaksar M.en_US
dc.contributor.authorMotlagh O.en_US
dc.contributor.authorid54960984900en_US
dc.contributor.authorid8231495000en_US
dc.contributor.authorid55350135000en_US
dc.contributor.authorid25641787000en_US
dc.date.accessioned2023-12-28T04:12:51Z
dc.date.available2023-12-28T04:12:51Z
dc.date.issued2013
dc.description.abstractIn this paper, we propose a new learning strategy for a probabilistic roadmap (PRM) algorithm. The proposed strategy is based on reducing the dispersion of the generated set of samples. We defined a forbidden range around each selected sample and ignored this region in further sampling. The resultant planner, called low dispersion-PRM, is an effective multi-query samplingbased planner that is able to solve motion planning queries with smaller graphs. Simulation results indicated that the proposed planner improved the performance of the original PRM and other low-dispersion variants of PRM. Furthermore, the proposed planner is able to solve difficult motion planning instances, including narrow passages and bug traps, which represent particularly difficult tasks for classic sampling-based algorithms. For measuring the uniformity of the generated samples, a new algorithm was created to measure the dispersion of a set of samples based on a predetermined resolution. � 2013 Khaksar et al.en_US
dc.description.natureFinalen_US
dc.identifier.ArtNoA397
dc.identifier.doi10.5772/56973
dc.identifier.scopus2-s2.0-84890467985
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84890467985&doi=10.5772%2f56973&partnerID=40&md5=9016754d0f15825860e2a5fb0b0eda0d
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/29389
dc.identifier.volume10
dc.relation.ispartofAll Open Access; Gold Open Access
dc.sourceScopus
dc.sourcetitleInternational Journal of Advanced Robotic Systems
dc.subjectDispersion
dc.subjectMulti-query planner
dc.subjectProbabilistic roadmaps
dc.subjectSampling-based motion panning
dc.subjectAlgorithms
dc.subjectDispersion (waves)
dc.subjectMotion planning
dc.subjectLearning strategy
dc.subjectLow dispersions
dc.subjectMulti-query planner
dc.subjectProbabilistic road maps
dc.subjectProbabilistic roadmap
dc.subjectSampling-based
dc.subjectSampling-based algorithms
dc.subjectSampling-based motion planning
dc.subjectDispersions
dc.titleA low dispersion probabilistic roadmaps (LD-PRM) algorithm for fast and efficient sampling-based motion planningen_US
dc.typeArticleen_US
dspace.entity.typePublication
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