Useful Cycles in Probabilistic Roadmap Graphs
Dennis Nieuwenhuisen, Mark H. Overmars
Over the last decade, the probabilistic road map
method (PRM) has become one of the dominant motion planning
techniques. Due to its random nature, the resulting paths tend to
be much longer than the optimal path despite the development of
numerous smoothing techniques. Also, the path length varies a lot
every time the algorithm is executed. In this paper we present
a new technique that results in higher quality (shorter) paths
with much less variation between the executions. The technique
is based on adding useful cycles to the roadmap graph.
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