Increasing Diversity of Solutions in Sampling-based Path Planning

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00327561" target="_blank" >RIV/68407700:21230/18:00327561 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1145/3297097.3297114" target="_blank" >http://dx.doi.org/10.1145/3297097.3297114</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1145/3297097.3297114" target="_blank" >10.1145/3297097.3297114</a>

Result language

angličtina

Original language name

Increasing Diversity of Solutions in Sampling-based Path Planning

Original language description

Sampling-based path planning algorithms like Rapidly-exploring Random Trees (RRT) are widely used to solve path planning problems for robots with many Degrees Of Freedom (DOF). Although the sampling-based planners are stochastic and provide different solutions in every trial, many resulting trajectories can be quite similar, e.g., because they are close to each other. Computation of di verse paths, i.e., paths leading through different parts of the configuration space, is important for online navigation of mobile robots or for finding solutions leading through different narrow passages of the configuration space. In this paper, we propose an extension of the RRT algorithm to find diverse paths in the configuration space iteratively. The idea of the proposed method is to prohibit the exploration of selected regions of the configuration space. The prohibited regions are defined using the waypoints of paths computed in the previous iterations. We show that the proposed method finds more diverse trajectories than can be achieved by repeated computations of a single sampling-based planner.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA17-07690S" target="_blank" >GA17-07690S: Methods of Identification and Visualization of Tunnels for Flexible Ligands in Dynamic Proteins</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 2018 International Conference on Robotics and Artificial Intelligence

ISBN

978-1-4503-6584-0

ISSN

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e-ISSN

—

Number of pages

6

Pages from-to

97-102

Publisher name

ACM

Place of publication

New York

Event location

Guangzhou

Event date

Nov 17, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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