基于抽样的规划者可达性分析

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570152

Roland Geraerts, M. Overmars

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引用次数: 32

摘要

在过去的十年里，基于采样的规划方法，如概率路线图方法，在解决复杂的运动规划问题上已经被证明是成功的。我们为这些规划者提供了一个基于可达性的分析，从而更好地理解方法的成功和所建议的技术的改进。这也使我们能够研究使用新的地方规划者的效果。

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Reachability Analysis of Sampling Based Planners

The last decade, sampling based planners like the Probabilistic Roadmap Method have proved to be successful in solving complex motion planning problems. We give a reachability based analysis for these planners which leads to a better understanding of the success of the approach and enhancements of the techniques suggested. This also enables us to study the effect of using new local planners.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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