ERPP: An Experience-Based Randomized Path Planner
نویسندگان
چکیده
This paper presents a motion planning algorithm capable of exploiting the experience gained in previous path computations in the same static workspace. The algorithm takes advantage of a parallel approach to speed up computation and compile a graph retaining useful knowledge about the environment. Experimental results assess the performance improvement of the experience-based planner over the parallel implementation of a well-known probabilistic motion planning algorithm.
منابع مشابه
Adaptive Path Planning : Algorithm and Analysis * Pang
To address the need for a fast path planner, we present a learning algorithm that improves path planning by using past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster planning. More generally, the algorit...
متن کاملIntelligent adaptive immune-based motion planner of a mobile robot in cluttered environment
Learning of an autonomous mobile robot for path generation includes the use of previous experience to obtain the better path within its work space. When the robot is moving in its search space for target seeking, each task requires different form of learning. Therefore, the modeling of an efficient learning mechanism is the hardest problem for an autonomous mobile robot. To solve this problem, ...
متن کاملA Voronoi-based hybrid motion planner
We present a hybrid path planning algorithm for rigid and articulated bodies translating and rotating in a 3D workspace. Our approach generates a Voronoi roadmap in the workspace and combines it with “bridges” computed by a randomized path planner with Voronoi-biased sampling. The Voronoi roadmap is computed from a discrete approximation to the generalized Voronoi diagram (GVD) of the workspace...
متن کاملA Voronoi-Based Hybrid Motion Planner for Rigid Bodies
We present a hybrid path planning algorithm for rigid bodies translating and rotating in a 3D workspace. Our approach generates a Voronoi roadmap in the workspace and combines it with “bridges” computed by a randomized path planner with Voronoi-biased sampling. The Voronoi roadmap is computed from a discrete approximation to the generalized Voronoi diagram (GVD) of the workspace, which is gener...
متن کاملGrowth and the relativity of satisfaction
We extend Ramsey’s model to be in accordance with the facts that self-reported levels of satisfaction are almost unrelated to economic prosperity, both across countries and across time. We assume that things are judged by the extent to which they depart from social norms. Norms are based on the past experience of agents. A special case is when norms are built on the basis of the best previous e...
متن کامل