Using manipulability to bias sampling during the construction of probabilistic roadmaps

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 6, 2003, Pages 1020-1026

  Leven, Peter ^a,b   Hutchinson, Seth ^b  

^a HEWLETT PACKARD COMPANY   (United States)

^b UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

Importance sampling; Path planning; Probabilistic roadmaps (PRMs)

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); MANIPULATORS; MOTION PLANNING; PROBABILITY;

IMPORTANCE SAMPLING; MANIPULABILITY; PROBABILISTIC ROADMAPS;

ROBOTIC ARMS;

EID: 0442311196     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.819732     Document Type: Article

References (22)

1. L. E. Kavraki and J.-C. Latombe, "Randomized preprocessing of configuration space for fast path planning," in Proc. IEEE Conf. Robotics and Automation, vol. 3, 1994, pp. 2138-2145.
2. M. H. Overmars and P. Švestka, "A probabilistic learning approach to motion planning," in Proc. Workshop Algorithmic Foundations Robotics, 1994, pp. 19-37.
3. T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. Robot. Res., vol. 4, no. 2, pp. 3-9, Apr. 1985.
4. P. Leven and S. Hutchinson, "Toward real-time path planning in changing environments," in Proc. Workshop Algorithmic Foundations Robotics, 2000, pp. 363-376.
5. ____, "Real-time path planning in changing environments," Int. J. Robot. Res., vol. 21, no. 12, pp. 999-1030, Dec. 2002.
6. L. E. Kavraki, "Random networks in configuration space for fast path planning," Ph.D. dissertation, Stanford Univ., Stanford, CA, 1994.
7. L. E. Kavraki, M. N. Kolountzakis, and J.-C. Latombe, "Analysis of probabilistic roadmaps for path planning," in Proc. IEEE Conf. Robotics and Automation, vol. 4, 1996, pp. 3020-3025.
8. T. Horsch, F. Schwarz, and H. Tolle, "Motion planning with many degrees of freedom - random reflections at c-space obstacles," in Proc. IEEE Conf. Robotics and Automation, 1994, pp. 3318-3323.
9. L. E. Kavraki and J.-C. Latombe, "Probabilistic roadmaps for robot path planning," in Practical Motion Planning in Robotics: Current Approaches and Future Directions, K. Gupta and P. del Pobil, Eds. New York: Wiley, 1998, pp. 33-53.
10. N. M. Amato and Y. Wu, "A randomized roadmap method for path and manipulation planning," in Proc. IEEE Conf. Robotics and Automation, vol. 1, 1996, pp. 113-120.
11. N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, "OBPRM: an obstacle-based PRM for 3-D workspaces," in Proc. Workshop Algorithmic Foundations Robotics, 1998, pp. 155-168.
12. V. Boor, M. H. Overmars, and A. F. van der Stappen, "The Gaussian sampling strategy for probabilistic roadmap planners," in Proc. IEEE Conf. Robotics and Automation, 1999, pp. 1018-1023.
13. L. J. Guibas, C. Holleman, and L. E. Kavraki, "A probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach," in Proc. IEEE/RSJ Conf. Intelligent Robots and Systems, 1999, pp. 254-259.
14. C. Holleman and L. E. Kavraki, "A framework for using the workspace medial axis in PRM planners," in Proc. IEEE Conf. Robotics and Automation, 2000, pp. 1408-1413.
15. S. A. Wilmarth, N. M. Amato, and P. F. Stiller, "Motion planning for a rigid body using random networks on the medial axis of the free space," in Proc. ACM Symp. Computational Geometry, 1999, pp. 173-180.
16. D. Hsu, J.-C. Latombe, and R. Motwani, "Path planning in expansive configuration spaces," Int. J. Computat. Geom. Applicat., vol. 9, no. 4 & 5, pp. 495-512, 1999.
17. J. J. Kuffner, Jr. and S. M. LaValle, "RRT-connect: an efficient approach to single-query path planning," in Proc. IEEE Conf. Robotics and Automation, 2000, pp. 995-1001.
18. J. M. Ahuactzin, K. Gupta, and E. Mazer, "Manipulation planning for redundant robots: a practical approach," Int. J. Robot. Res., vol. 17, no. 7, pp. 731-747, July 1998.
19. R. Bohlin and L. E. Kavraki, "Path planning using lazy PRM," in Proc. IEEE Conf. Robotics and Automation, 2000, pp. 521-528.
20. C. L. Nielsen and L. E. Kavraki, "A two level fuzzy PRM for manipulation planning," in Proc. IEEE/RSJ Conf. Intelligent Robots and Systems, 2000, pp. 1716-1721.
21. G. Song and N. M. Amato, "Randomized motion planning for car-like robots with C-PRM," in Proc. IEEE/RSJ Conf. Intelligent Robots and Systems, 2001, pp. 37-42.
22. G. Song, S. Miller, and N. M. Amato, "Customizing PRM roadmaps at query time," in Proc. IEEE Conf. Robotics and Automation, 2001, pp. 1500-1505.