Toggle PRM: Simultaneous Mapping of C-free and C-obstacle - A Study in 2D Conference Paper

abstract

• 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 C space. 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. 2011 IEEE.

name of conference

• 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)

authors

• Amato, Nancy

published proceedings

• 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS

author list (cited authors)

• Denny, J., & Amato, N. M.

complete list of authors

• Denny, Jory||Amato, Nancy M

publication date

• September 2011

publisher

• IEEE  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

Digital Object Identifier (DOI)

• 10.1109/iros.2011.6048865

International Standard Book Number (ISBN) 13

• 9781612844541

start page

• 2632

end page

• 2639