Title :
A recursive sampling based method for path planning
Author :
Khelchandra, Thongam ; Huang, Jie
Abstract :
This paper presents a new technique of path planning in synthetic 3D environment. The environment may involve any number of obstacles. The algorithm precomputes a global roadmap of the environment by using a variant of randomized motion planning algorithm. The local planner used to connect two samples is a recursive one and always finds a path between the two samples avoiding obstacles. Finally, it performs graph searching and automatically computes a collision-tree shortest path between two user specified locations. The method is applied to a two-joint manipulator. Experimental results show that the probability of finding a path is high and planning can be done in a few seconds.
Keywords :
collision avoidance; graph theory; manipulators; motion control; probability; randomised algorithms; sampling methods; search problems; collision-tree shortest path; graph searching; obstacles avoidance; path planning; probability; randomized motion planning algorithm; recursive sampling; synthetic 3D environment; two-joint manipulator; Algorithm design and analysis; Detection algorithms; Information systems; Joining processes; Orbital robotics; Path planning; Reflection; Sampling methods;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413755
