The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Randomized preprocessing of configuration for fast path planning
Abstract
This paper presents a new approach to path planning for robots with many degrees of freedom (DOF) operating in known static environments. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given environment, generates a network of randomly, but properly selected, collision-free configurations (nodes). Planning then connects any given initial and final configurations of the robot to two nodes of the network and computes a path through the network between these two nodes. Experiments show that after paying the preprocessing cost (on the order of hundreds of seconds), planning is extremely fast (on the order of a fraction of a second for many difficult examples involving a 10-DOF robot). The approach is particularly attractive for many-DOF robots which have to perform many successive point-to-point motions in the same environment.>
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Citations
Cites
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Self-citationRRT-connect: An efficient approach to single-query path planning
Kuffner, J. J., & LaValle, S. M. (2000) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844730 · Cited by 3,555
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
A randomized roadmap method for path and manipulation planning
Amato, N. M., & Wu, Y. (2002) · Proceedings of IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1996.503582 · Cited by 369
Survey of Robot 3D Path Planning Algorithms
Yang, L., Qi, J., Song, D., Xiao, J., Han, J., & Xia, Y. (2016) · Journal of Control Science and Engineering · doi:10.1155/2016/7426913 · Cited by 328
Metadata
- Authors
- Kavraki, L., & Latombe, J.-C.
- Venue
- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2002-12-17
- Pages
- 2138-2145
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2146467128
- Cited by
- 412
- References
- 1
- FWCI
- 27.35
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Kavraki, L., & Latombe, J.-C. (2002). Randomized preprocessing of configuration for fast path planning. Proceedings of the 1994 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1994.350966
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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