12 páginas, 16 figuras, 7 tablas. ; This paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. It combines the exploratory strength of the Rapidly exploring Random Tree (RRT) algorithm with transition tests used in stochastic optimization methods to accept or to reject new potential states. The planner is analyzed and shown to compute low-cost solutions with respect to a path-quality criterion based on the notion of mechanical work. A large set of experimental results is provided to demonstrate the effectiveness of the method. Current limitations and possible extensions are also discussed. ; This work was supported in part by the French National Research Agency under Project “GlucoDesign,” in part by the European Community under FP7-ICT Project 216239 “DEXMART,” and in part by the Spanish Ministry of Science and Innovation under Project DPI2007-60858. The work of L. Jaillet was supported by Consejo Superior de Investigaciones Científicas under the JAE-Doc Fellowship. ; Peer reviewed
Sampling-Based Path Planning on Configuration-Space Costmaps
2010-01-01
doi:10.1109/TRO.2010.2049527
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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