Local randomization in neighbor selection improves PRM roadmap quality
KAUST Grant NumberKUS-C1-016-04
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AbstractProbabilistic Roadmap Methods (PRMs) are one of the most used classes of motion planning methods. These sampling-based methods generate robot configurations (nodes) and then connect them to form a graph (roadmap) containing representative feasible pathways. A key step in PRM roadmap construction involves identifying a set of candidate neighbors for each node. Traditionally, these candidates are chosen to be the k-closest nodes based on a given distance metric. In this paper, we propose a new neighbor selection policy called LocalRand(k,K'), that first computes the K' closest nodes to a specified node and then selects k of those nodes at random. Intuitively, LocalRand attempts to benefit from random sampling while maintaining the higher levels of local planner success inherent to selecting more local neighbors. We provide a methodology for selecting the parameters k and K'. We perform an experimental comparison which shows that for both rigid and articulated robots, LocalRand results in roadmaps that are better connected than the traditional k-closest policy or a purely random neighbor selection policy. The cost required to achieve these results is shown to be comparable to k-closest. © 2012 IEEE.
CitationMcMahon T, Jacobs S, Boyd B, Tapia L, Amato NM (2012) Local randomization in neighbor selection improves PRM roadmap quality. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/IROS.2012.6386061.
SponsorsThis research supported in part by NSF awards CRI-0551685, CCF-0833199, CCF-0830753, IIS-096053, IIS-0917266, by THECB NHARPaward 000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and byAward KUS-C1-016-04, made by King Abdullah University of Science andTechnology (KAUST). Tapia supported in part by NIH Grant P20RR018754.