Lazy Toggle PRM: An Efficient Motion Planning Strategy for Task Sequences
نویسندگان
چکیده
Probabilistic RoadMaps (PRMs) are quite successful in solving complex and high-dimensional motion planning problems. While particularly suited for multiple-query scenarios and expansive spaces, they lack efficiency in both solving a small number of queries in an environment and mapping narrow spaces. Two PRM variants separately tackle these gaps. Lazy PRM reduces the computational cost of roadmap construction for single-query scenarios by delaying roadmap validation until query time and Toggle PRM is well suited for mapping narrow spaces through a coordinated mapping both Cfree and Cobst. However, fully validating the two roadmaps can be costly. A recent strategy, Lazy Toggle PRM, integrated these two approaches into a method which is suited for efficient single-query planning. In this paper, we extend this approach to plan for difficult task sequences in environments with narrow passages and of high descriptive complexity (e.g., those described by many triangles). We conclude that Lazy Toggle PRM efficiently plans for complex task sequences compared with PRM, Lazy PRM, Toggle PRM, all suited for planning for multiple queries.
منابع مشابه
Toggle PRM: A Simultaneous Mapping of CFree and CObstacle for Use in Probabilistic Roadmap Methods
Motion planning for robotic applications is difficult. This is a widely studied problem in which the best known deterministic solution is doubly exponential in the dimensionality of the problem. A class of probabilistic planners, called sampling-based planners, have shown much success in this area, but still show weakness for planning in difficult parts of the space, namely narrow passages. The...
متن کاملA smoothing strategy for prm paths: application to 6-axes motoman manipulator
This paper describes the use of the probabilistic motion planning technique SBL “Single-Query Bidirectional Probabilistic Algorithm with Lazy Collision Checking” or in motion planning for robot manipulators. We present a novel strategy to remedy the PRM “Probabilistic Roadmap” paths which are both excessively long and velocity discontinuous. The optimization of the path will be done first throu...
متن کاملToggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension
Motion planning has received much attention over the past 40 years. More than 15 years have passed since the introduction of the successful sampling-based approach known as the Probabilistic RoadMap Method (PRM). PRM and its many variants have demonstrated great success for some high-dimensional problems, but they all have some level of difficulty in the presence of narrow passages. Recently, a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013