How to construct small probabilistic roadmaps with a good coverage?

作者：Rantanen Mika T^*; Juhola Martti

来源：Advanced Robotics, 2014, 28(22): 1519-1531.

DOI：10.1080/01691864.2014.967722

• probabilistic roadmaps
• small roadmaps
• motion planning

We investigate how we can construct small probabilistic roadmaps in a reasonable time while still keeping a good coverage and connectivity. We propose a new neighborhood-based method that can reduce the size of the roadmaps by filtering out unnecessary nodes. We then experimentally test it against a basic probabilistic roadmap planner and a visibility-based planner. We use both a uniform sampling and a bridge test sampling in our tests. The results show that the neighborhood-based method can reduce the number of nodes considerably. The neighborhood-based method is simple to implement, it works well with a uniform sampling, and it does not need any additional parameters when compared with the basic planner.

• 出版日期2014-11-17