How to construct small probabilistic roadmaps with a good coverage?

Rantanen, Mika T.; Juhola, Martti

doi:10.1080/01691864.2014.967722

Cited by 4 publications

(1 citation statement)

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“…There are two main characteristics that evaluate the effectiveness of PRM roadmaps: coverage and connectivity (Rantanen & Juhola, 2014). Coverage refers to whether the roadmap is spread over the entire map.…”

Section: Introductionmentioning

confidence: 99%

A Novel Narrow Region Detector for Sampling-Based Planners' Efficiency: Match Based Passage Identifier

Şahiner,

Gündoğdu,

Sezer

2024

Preprint

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Autonomous technology, which has become widespread today, appears in many different configurations such as mobile robots, manipulators, and drones. One of the most important tasks of these vehicles during autonomous operations is path planning. In the literature, path planners are generally divided into two categories: probabilistic and deterministic methods. In the analysis of probabilistic methods, the common problem of almost all methods is observed in narrow passage environments. In this paper, a novel sampler is proposed that deterministically identifies narrow passage environments and accordingly increases the amount of sampling in these regions. The codes of the algorithm is provided as open source. To evaluate the performance of the algorithm, benchmark studies are conducted in three distinct categories: specific and random simulation environments, and a real-world environment. As a result, it is observed that our algorithm provides higher performance in planning time and number of milestones compared to the baseline samplers.

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Section: Introductionmentioning

confidence: 99%