Reachability Analysis of Sampling Based Planners

Author

Geraerts, Roland ; Overmars, Mark H.

Author_Institution

Institute of Information and Computing Sciences Utrecht University 3584 CH Utrecht, the Netherlands; roland@cs.uu.nl

fYear

2005

fDate

18-22 April 2005

Firstpage

404

Lastpage

410

Abstract

The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.

Keywords

PRM; Reachability analysis; motion planning; potential field local planner; Contracts; FETs; Motion analysis; Motion planning; Orbital robotics; Path planning; Polynomials; Reachability analysis; Robots; Sampling methods; PRM; Reachability analysis; motion planning; potential field local planner;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570152

Filename

1570152

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2933298