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A novel path planning proposal based on the combination of deterministic sampling and harmonic functions
Rosell Gratacòs, Jan; Vázquez Hurtado, Carlos; Pérez, Alexander; Iñíguez Galbete, Pedro
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
The sampling-based approach is currently the most successful and yet more promising approach to path planning problems. Sampling-based methods are demonstrated to be probabilistic complete, being their performance reliant on the generation of samples. To obtain a good set of samples, this paper proposes a new sampling paradigm based on deterministic sampling paradigm based on a deterministic sampling sequence guided by an harmonic potential function computed on a hierarchical cell decomposition of C-space. In the proposed method, known as Kautham sampler, samples are not isolated configurations but parts of a whole. As samples are generated they are dynamically grouped into cells that capture the C-space structure. This allows the use of harmonic functions to share information and guide further sampling towards more promising regions of C-space. Finally, using the samples obtained, a roadmap is easily built taking advantage of the known neighbourhood relationships.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Harmonic functions
Robots
Planificació de moviments
Mostratge determinista
Funcions harmòniques
Planificación de movimientos
Muestreo determinista
Funciones armónicas
Motion planning
Deterministic sampling
Harmonic functions
Robots -- Sistemes de control -- Informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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