Runtime reduction in optimal multi-query sampling-based motion planning
Algorithms; Dispersions; Manufacture; Query processing; Robotics; High-dimensional; Low dispersions; Optimal solutions; Path length; Planning tasks; Sampling-based; Sampling-based algorithms; Sampling-based motion planning; Motion planning
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Institute of Electrical and Electronics Engineers Inc.
2023
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my.uniten.dspace-222352023-05-29T13:59:45Z Runtime reduction in optimal multi-query sampling-based motion planning Khaksar W. Sahari K.S.B.M. Ismail F.B. Yousefi M. Ali M.A. 54960984900 57218170038 58027086700 53985756300 57214142487 Algorithms; Dispersions; Manufacture; Query processing; Robotics; High-dimensional; Low dispersions; Optimal solutions; Path length; Planning tasks; Sampling-based; Sampling-based algorithms; Sampling-based motion planning; Motion planning Sampling-based motion planning algorithms have been successfully applied to various types of high-dimensional planning tasks. Recently an extension of PRM algorithm called PRM? planner has been proposed which guarantees asymptotic optimal solutions in terms of path length. However, the high runtime of sampling-based algorithms is still a serious disadvantage. In this paper, a new extension of PRM planner is proposed which incorporates the variable neighborhood radius feature of PRM? and the sampling radius of low-dispersion sampling in order to improve the cost of the generated solutions in terms of path length and runtime. The performance of the proposed algorithm is tested in different planning environments. Furthermore, the proposed planner is compared to the original PRM and the PRM? approaches and shows significant improvement. � 2014 IEEE. Final 2023-05-29T05:59:45Z 2023-05-29T05:59:45Z 2015 Conference Paper 10.1109/ROMA.2014.7295861 2-s2.0-84959465777 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84959465777&doi=10.1109%2fROMA.2014.7295861&partnerID=40&md5=fb80cb70f2066f99f3db777c247034ed https://irepository.uniten.edu.my/handle/123456789/22235 7295861 52 56 Institute of Electrical and Electronics Engineers Inc. Scopus |
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| description |
Algorithms; Dispersions; Manufacture; Query processing; Robotics; High-dimensional; Low dispersions; Optimal solutions; Path length; Planning tasks; Sampling-based; Sampling-based algorithms; Sampling-based motion planning; Motion planning |
| author2 |
54960984900 |
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54960984900 Khaksar W. Sahari K.S.B.M. Ismail F.B. Yousefi M. Ali M.A. |
| format |
Conference Paper |
| author |
Khaksar W. Sahari K.S.B.M. Ismail F.B. Yousefi M. Ali M.A. |
| spellingShingle |
Khaksar W. Sahari K.S.B.M. Ismail F.B. Yousefi M. Ali M.A. Runtime reduction in optimal multi-query sampling-based motion planning |
| author_sort |
Khaksar W. |
| title |
Runtime reduction in optimal multi-query sampling-based motion planning |
| title_short |
Runtime reduction in optimal multi-query sampling-based motion planning |
| title_full |
Runtime reduction in optimal multi-query sampling-based motion planning |
| title_fullStr |
Runtime reduction in optimal multi-query sampling-based motion planning |
| title_full_unstemmed |
Runtime reduction in optimal multi-query sampling-based motion planning |
| title_sort |
runtime reduction in optimal multi-query sampling-based motion planning |
| publisher |
Institute of Electrical and Electronics Engineers Inc. |
| publishDate |
2023 |
| _version_ |
1806424366706065408 |
| score |
13.214268 |