A little more, a lot better: Improving path quality by a path-merging algorithm

IEEE Transactions on Robotics

Volumn 27, Issue 2, 2011, Pages 365-371

  Raveh, Barak ^a,b   Enosh, Angela ^b   Halperin, Dan ^b  

^a HEBREW UNIVERSITY OF JERUSALEM   (Israel)

^b TEL AVIV UNIVERSITY   (Israel)

Author keywords

Motion control; path quality; sampling based motion planning

Indexed keywords

ARBITRARY NUMBER; AS PATHS; CONFIGURATION SPACE; DEGREES OF FREEDOM; FREE MOTION; HIGH-DIMENSIONAL; INPUT MOTIONS; MERGING ALGORITHMS; MOTION PATH; MOTION PLANNERS; MULTIPLE MOTIONS; PATH QUALITY; PLANNING PROBLEM; PROGRAMMING ALGORITHMS; QUALITY MEASURES; RUNNING TIME; SAMPLING-BASED; SAMPLING-BASED MOTION PLANNING; SIMPLE ALGORITHM;

CLUSTERING ALGORITHMS; DYNAMIC PROGRAMMING; MERGING; MOTION CONTROL; MOTION PLANNING; PLANNING;

QUALITY CONTROL;

EID: 79953774677     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2098622     Document Type: Article

References (41)

1. H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, MA: MIT Press, 2005.
2. J.-C. Latombe, "Motion planning: A journey of robots, molecules, digital actors, and other artifacts," Int. J. Robot. Res., vol. 18, pp. 1119-1128, 1999. (Pubitemid 129584991)
3. S.M. LaValle. (2006). Planning algorithms. Cambridge Univ. Press, Cambridge, U.K. [Online]. Available at http://planning.cs.uiuc.edu/
4. L. E. Kavraki, P. Svestka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Autom., vol. 12, no. 4, pp. 566-580, Aug. 1996. (Pubitemid 126774162)
5. S.M. LaValle and J. J.Kuffner, "Rapidly-exploring random trees: Progress and prospects," in Algorithmic and Computational Robotics: New Directions, B. R. Donald, K. M. Lynch, and D. Rus, Eds.Wellesley, MA: A. K. Peters, 2001, pp. 293-308.
6. D. Hsu, J. Latombe, and R. Motwani, "Path planning in expansive configuration spaces," Int. J. Comp. Geo. Appl., vol. 4, pp. 495-512, 1999.
7. J. Canny and J. Reif, "New lower bound techniques for robot motion planning problems," in Proc. FOCS, 1987, IEEE, Piscataway, NJ, pp. 49- 60. (Pubitemid 18538580)
8. 1 -Optimal motion of a rod," in Proc. 12th ACM Symp. Comput. Geometry, 1996, pp. 252-263.
9. J. Reif and H. Wang, "The complexity of the two dimensional curvatureconstrained shortest-path problem," in Proc. WAFR, 1998, pp. 49-57.
10. J. S. B. Mitchell, "Shortest paths and networks," in Handbook of Discrete and Computational Geometry. Boca Raton, FL: CRC, 2004, ch. 27, pp. 607-641.
11. J. H. Holland, Adaptation in Natural and Artificial Systems: An Introductory Analysis With Applications to Biology, Control, and Artificial Intelligence. Ann Arbor, MI: Univ. Michigan Press, 1975.
12. E. W. Dijkstra, "A note on two problems in connexion with graphs," Numer. Math., vol. 1, no. 1, pp. 269-271, 1959.
13. J. Kim, R. A. Pearce, and N. M. Amato, "Extracting optimal paths from roadmaps for motion planning," in Proc. ICRA, IEEE, Piscataway, NJ, 2003, pp. 2424-2429.
14. V. Kaibel and M. Peinhardt. (2006). On the bottleneck shortest path problem. Otto-von-Guericke-Univ. Magdeburg, Magdeburg, Germany, Tech. Rep. [Online]. Available: http://www.math.uni-magdeburg.de/~kaibel/Downloads/BSP.pdf
15. N. J. Nilsson, "A mobile automaton: An application of artificial intelligence techniques," in Proc. 1st Int. Conf. Artif. Intell., 1969, pp. 509-520.
16. D. T. Lee, "Proximity and reachability in the plane." Rep. R-831, Dept. Elect. Eng., Univ. Illinois, Urbana, IL, 1978.
17. J. Hershberger and S. Suri, "An optimal algorithm for euclidean shortest paths in the plane," SIAM J. Comput, vol. 28, pp. 2215-2256, 1997.
18. C. O'Dunlaing and C. K. Yap, "A retraction method for planning the motion of a disc," J. Algorithms, vol. 6, pp. 104-111, 1982.
19. C. H. Papadimitriou, "An algorithm for shortest-path motion in three dimensions," Inf. Process. Lett., vol. 20, no. 5, pp. 259-263, 1985.
20. S. Karaman and E. Frazzoli, "Incremental sampling-based optimal motion planning," Int. J. Robotics Res., submitted for publication.
21. 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. Symp. Comput. Geometry, 1999, pp. 173-180.
22. D. Nieuwenhuisen and M. H. Overmars, "Useful cycles in probabilistic roadmap graphs," in Proc. ICRA, IEEE, Piscataway, NJ, 2004, pp. 446- 452.
23. R. Geraerts and M.-H. Overmars, "Creating high-quality roadmaps for motion planning in virtual environments," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2006, pp. 4355-4361. (Pubitemid 46928610)
24. C. Urmson and R. Simmons, "Approaches for heuristically biasing RRT growth," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2003, pp. 1178- 1183.
25. A. Ettlin and H. Bleuler, "Rough-terrain robot motion planning based on obstacleness," in Proc. 9th Int. Conf. Control, Autom., Robot. Vision, IEEE, Piscataway, NJ, 2006, pp. 1-6.
26. A. Ettlin and H. Bleulere, "Randomised rough-terrain robot motion planning," in Proc. IROS, IEEE, Piscataway, NJ, 2006, pp. 5798-5803. (Pubitemid 46928015)
27. L. Jaillet, J. Cortes, and T. Simeon, "Transition-based RRT for path planning in continuous cost spaces," in Proc. IEEE/RSJ Int.Conf. Intell. Robots Syst., 2008, pp. 2145-2150.
28. B. Raveh, A. Enosh, O. Schueler-Furman, and D. Halperin, "Rapid sampling of molecular motions with prior information constraints," PLoS Comput. Biol., vol. 5, no. 2, 2009.
29. D. Ferguson and A. Stentz, "Anytime RRTs," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2006, pp. 5369-5375. (Pubitemid 46928788)
30. R. Geraerts and M. Overmars, "Creating high-quality paths for motion planning," Int. J. Robot. Res., vol. 26, no. 8, pp. 845-863, 2007. (Pubitemid 47117239)
31. E. Plaku, K. E. Bekris, and L. E. Kavraki, "OOPS formotion planning: An online open-source programming system," in Proc. ICRA, 2007, pp. 3711-3716. (Pubitemid 350140759)
32. A. Enosh, B. Raveh, O. Furman-Schueler, D. Halperin, and N. Ben-Tal, "Generation, comparison and merging of pathways between protein conformations:Gating in k-channels," Biophys. J., vol. 95, no. 8, pp. 3850- 3860, 2008.
33. V. I. Levenshtein, "Binary codes capable of correcting deletions, insertions, and reversals," Soviet Phys. Doklady, vol. 10, no. 8, pp. 707-710, 1966.
34. G. Song and N. M. Amato, "Randomized motion planning for car-like robots with c-PRM," Texas A&M Univ. College Station, TX, Tech. Rep., 2001.
35. I. Berger, B. Eldar, G. Zohar, B. Raveh, and D. Halperin, "Improving the quality of non-holonomic motion by hybridizing C-PRM paths," Comput. Res. Repository, 2010, vol. abs/1009.4787.
36. F. Park and B. Ravani, "Smooth invariant interpolation of rotations," ACM Trans. Graph., vol. 16, no. 3, pp. 277-295, 1997. (Pubitemid 128445826)
37. J. Kuffner, "Effective sampling and distance metrics for 3D rigid body path planning," in Proc. ICRA., IEEE, Piscataway, NJ, 2004.
38. A. Yershova, S. M. LaValle, and J. C. Mitchell, "Generating uniform incremental grids on SO(3) using the Hopf fibration," in Proc. WAFR, 2008, pp. 385-399.
39. N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, "Choosing good distance metrics and local planners for probabilistic roadmap methods," IEEE Trans. Robot. Autom., vol. 16, no. 4, pp. 442-447, Aug. 2000.
40. R. Wein, J. van den Berg, and D. Halperin, "The visibility-Voronoi complex and its applications," Comp. Geo. Theory Appl., vol. 36, no. 1, pp. 66-78, 2007.
41. R.Wein, J. P. van den Berg, and D. Halperin, "Planning high-quality paths and corridors amidst obstacles," Int. J. Robot. Res., vol. 27, no. 11/12, pp. 1213-1231, 2008