DocumentCode :
2943588
Title :
Costmap planning in high dimensional configuration spaces
Author :
Iehl, Romain ; Cortés, Juan ; Siméon, Thierry
Author_Institution :
LAAS, Toulouse, France
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
166
Lastpage :
172
Abstract :
For many applications, path planning algorithms are expected to compute not only feasible paths, but good-quality solutions with respect to a cost function defined over the configuration space. Although several algorithms have been proposed recently for computing good-quality paths, their practical applicability is mostly limited to low-dimensional problems. This paper extends the applicability of one of such algorithms, T-RRT, to higher-dimensional problems. To this end, we propose to introduce ideas from the ML-RRT algorithm, which can efficiently solve high-dimensional path planning problems by relying on a hierarchical partitioning of the configuration space parameters. Simulation results show the good performance of the new costmap planner, MLT-RRT, for solving problems involving up to several hundreds of degrees of freedom.
Keywords :
mobile robots; multi-robot systems; path planning; trees (mathematics); ML-RRT algorithm; MLT-RRT algorithm; Manhattan-like RRT algorithm; T-RRT planner; configuration space parameters; cost function; costmap planning; hierarchical partitioning; high-dimensional configuration spaces; high-dimensional path planning problems; low-dimensional problems; multi-robot systems; rapidly-exploring random tree algorithm; transition-based RRT planner; Cost function; Manipulators; Partitioning algorithms; Path planning; Planning; Tuning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6265953
Filename :
6265953
Link To Document :
بازگشت