Computing multiple guiding paths for sampling-based motion planning

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00335548" target="_blank" >RIV/68407700:21230/19:00335548 - isvavai.cz</a>

Alternative codes found

RIV/00216224:14330/19:00107686

Result on the web

<a href="http://dx.doi.org/10.1109/ICAR46387.2019.8981589" target="_blank" >http://dx.doi.org/10.1109/ICAR46387.2019.8981589</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICAR46387.2019.8981589" target="_blank" >10.1109/ICAR46387.2019.8981589</a>

Result language

angličtina

Original language name

Computing multiple guiding paths for sampling-based motion planning

Original language description

Path planning of 3D solid objects leads to search in a six-dimensional configuration space, which can be solved by sampling-based motion planning. The well-known issue of sampling-based planners is the narrow passage problem, which is caused by the presence of small regions of the configuration space that are difficult to cover by random samples. Guided-based planners cope with this issue by increasing the probability of sampling along an estimated solution (a guiding path). In the case of six-dimensional configuration space, the guiding path needs to be computed in the configuration space rather than in the workspace. Fast computation of guiding paths can be achieved by solving a similar, yet simpler problem, e.g., by reducing the size of the robot. This results in an approximate solution (path) that is assumed to be located near the solution of the original problem. The guided sampling along this approximate solution may, however, fail if the approximate solution is too far from the desired solution. In this paper, we cope with this problem by sampling the configuration space along multiple approximate solutions. The approximate solutions are computed using a proposed iterative process: after a path (solution) is found, it forms a region where the subsequent search is inhibited, which boosts the search of new solutions. The performance of the proposed approach is verified in scenarios with multiple narrow passages and compared with the state-of-the-art planners.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

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

2019

Confidentiality

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

Article name in the collection

ICAR2019: Proceedings of the 19th International Conference on Advanced Robotics

ISBN

978-1-7281-2467-4

ISSN

—

e-ISSN

—

Number of pages

8

Pages from-to

374-381

Publisher name

IEEE

Place of publication

Piscataway (New Jersey)

Event location

Belo Horizonte

Event date

Dec 2, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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