Increasing Diversity of Solutions in Sampling-based Path Planning

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Increasing Diversity of Solutions in Sampling-based Path Planning

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Increasing Diversity of Solutions in Sampling-based Path Planning

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

<a href="/cs/project/GA17-07690S" target="_blank" >GA17-07690S: Metody identifikace a vizualizace tunelů pro flexibilní ligandy v dynamických proteinech</a><br>

Návaznosti

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

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 2018 International Conference on Robotics and Artificial Intelligence

ISBN

978-1-4503-6584-0

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

97-102

Název nakladatele

ACM

Místo vydání

New York

Místo konání akce

Guangzhou

Datum konání akce

17. 11. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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