Title :
Combining harmonic functions and random sampling in robot motion planning: a performance evaluation
Author :
Iñiguez, Pedro ; Rosell, Jan
Author_Institution :
Dept. Eng. Electron. Electr. i Autom., URV, Tarragona, Spain
Abstract :
The paper evaluates the performance of a potential field planner based on the use of harmonic functions and a random sampling scheme. Such a planner, called PHM, is probabilistic and resolution complete. The failure probability to connect to configurations a and b is studied, provided that the path exists.
Keywords :
harmonic analysis; motion control; path planning; probability; robots; sampling methods; Laplace equation; failure probability; harmonic functions; path planning; performance evaluation; potential field planner; random sampling; robot motion planning; Finite difference methods; Grid computing; Laplace equations; Motion planning; Orbital robotics; Path planning; Planing; Prognostics and health management; Robot motion; Sampling methods;
Conference_Titel :
Assembly and Task Planning, 2003. Proceedings of the IEEE International Symposium on
Print_ISBN :
0-7803-7770-2
DOI :
10.1109/ISATP.2003.1217220
