Denny, Jory; Amato, Nancy M.(2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), 2011-09)[Conference Paper]
Motion planning is known to be difficult. Probabilistic planners have made great advances, but still have difficulty for problems that require planning in narrow passages or on surfaces in Cspace. This work proposes Toggle PRM, a new methodology for PRMs that simultaneously maps both free and obstacle space. In this paper, we focus on 2 DOF problems and show that mapping both spaces leads to increased sampling density in narrow passages and to improved overall efficiency as compared to previous sampling based approaches.
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