Title :
Probabilistic analysis of sampling based path planning algorithms
Author :
Bera, Titas ; Seetharama Bhat, M. ; Ghose, Debasish
Author_Institution :
Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India
Abstract :
In this paper we investigate probabilistic completeness and asymptotic optimality of various existing randomized sampling based algorithms such as, probabilistic roadmap methods (PRM) and its many variants. We give new alternate proofs to many such existing theorems regarding probabilistic completeness and asymptotic optimality, in both incremental and independent random problem model framework.
Keywords :
optimal control; path planning; probability; random processes; robots; sampling methods; PRM; asymptotic optimality; incremental random problem model; independent random problem model; probabilistic analysis; probabilistic completeness; probabilistic roadmap method; randomized sampling based algorithms; sampling based path planning algorithm; theorem proof; Arrays; Convergence; Dispersion; Path planning; Probabilistic logic; Random variables; Tin;
Conference_Titel :
Intelligent Control (ISIC), 2013 IEEE International Symposium on
Conference_Location :
Hyderabad
DOI :
10.1109/ISIC.2013.6658624
