UOBPRM: A Uniformly Distributed Obstacle-Based PRM Conference Paper

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.

name of conference

• 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

authors

• Amato, Nancy
• Thomas, Shawna

published proceedings

• 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

author list (cited authors)

• Yeh, H., Thomas, S., Eppstein, D., & Amato, N. M.

citation count

• 28

complete list of authors

• Yeh, Hsin-Yi Cindy||Thomas, Shawna||Eppstein, David||Amato, Nancy M

publication date

• January 2012

publisher

• Institute of Electrical and Electronics Engineers (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.2012.6385875

International Standard Book Number (ISBN) 13

• 9781467317375

start page

• 2655

end page

• 2662

URL

• http://dx.doi.org/10.1109/iros.2012.6385875