Clearance Based Path Optimization for Motion Planning
Roland Geraerts, Mark H. Overmars
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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