Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -
Type
Conference PaperAuthors
Denny, JoryAmato, Nancy M.
KAUST Grant Number
KUS-C1-016-04Date
2011-09Permanent link to this record
http://hdl.handle.net/10754/600034
Metadata
Show full item recordAbstract
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.Citation
Denny J, Amato NM (2011) Toggle PRM: Simultaneous mapping of C-free and C-obstacle - A study in 2D -. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/iros.2011.6095102.Sponsors
This research supported in part by NSF Grants EIA-0103742, ACR-0081510, ACR-0113971, CCR-0113974, ACI-0326350, CRI-0551685, CCF-0833199, CCF-0830753, by the DOE, Chevron, IBM, Intel, HP, and by King Abdullah University of Science and Technology (KAUST) Award KUS-C1-016-04.ae974a485f413a2113503eed53cd6c53
10.1109/iros.2011.6095102