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Title:
Clearance Based Path Optimization for Motion Planning
Author(s):
Roland Geraerts, Mark H. Overmars
Main site:
Utrecht
Restrictions:
Public
Abstract:
Many motion planning techniques, like the probabilistic
roadmap method (PRM), generate low quality paths. In
this paper, we will study a number of different quality criteria
on paths in particular length and clearance. We will describe
a number of techniques to improve the quality of paths. These
are based on a new approach to increase the path clearance.
Experiments showed that the heuristics were able to generate
paths of a much higher quality than previous approaches.
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