UOBPRM: A uniformly distributed obstacle-based PRM

Yeh, Hsin-Yi; Thomas, Shawna; Eppstein, David; Amato, Nancy M.

UOBPRM: A uniformly distributed obstacle-based PRM

Type

Conference Paper

Authors

Yeh, Hsin-Yi
Thomas, Shawna
Eppstein, David
Amato, Nancy M.

KAUST Grant Number

KUS-C1–016–04

Date

2012-10

Abstract

This paper presents a new sampling method for motion planning that can generate configurations more uniformly distributed on C-obstacle surfaces than prior approaches. Here, roadmap nodes are generated from the intersections between C-obstacles and a set of uniformly distributed fixed-length segments in C-space. The results show that this new sampling method yields samples that are more uniformly distributed than previous obstacle-based methods such as OBPRM, Gaussian sampling, and Bridge test sampling. UOBPRM is shown to have nodes more uniformly distributed near C-obstacle surfaces and also requires the fewest nodes and edges to solve challenging motion planning problems with varying narrow passages. © 2012 IEEE.

Citation

Yeh H-Y, Thomas S, Eppstein D, Amato NM (2012) UOBPRM: A uniformly distributed obstacle-based PRM. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/iros.2012.6385875.

Acknowledgements

The work of Yeh, Thomas and Amato supported in part by NSF Grants EIA-OI03742, 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. The work of Eppstein supported in part by NSF Grants 0830403 and 1217322, and by the Office of Naval Research under MURI grant N00014–08-1–1015.