Visibility-based probabilistic roadmaps for motion planning 论文

摘要

This paper presents a variant of Probabilistic Roadmap Methods (PRM) that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps, called visibility roadmaps. Our algorithm integrates an original termination condition related to the volume of the free space covered by the roadmap. The planner has been implemented within a software platform allowing to address a large class of mechanical systems. Experiments show the efficiency of the approach in particular for capturing narrow passages of collision-free configuration spaces. 1 Introduction Due to the continuous increasing power of the computers, probabilistic approaches to motion planning 1 (e.g.,[2, 8, 18, 10, 3]) allow today to solve practical problems which were not addressed few years ago. Apart some attempts aiming to provide formal models of complexity [13, 9, 6, 12], the success of such methods rema...