A low dispersion probabilistic roadmaps (LD-PRM) algorithm for fast and efficient sampling-based motion planning

• Main Authors: Khaksar W., Hong T.S., Khaksar M., Motlagh O.
• Other Authors: 54960984900
• Format: Article
• Published: 2023
• Subjects: Dispersion; Multi-query planner; Probabilistic roadmaps; Sampling-based motion panning; Algorithms; Dispersion (waves); Motion planning; Learning strategy; Low dispersions; Probabilistic road maps; Probabilistic roadmap; Sampling-based; Sampling-based algorithms; Sampling-based motion planning; Dispersions

In this paper, we propose a new learning strategy for a probabilistic roadmap (PRM) algorithm. The proposed strategy is based on reducing the dispersion of the generated set of samples. We defined a forbidden range around each selected sample and ignored this region in further sampling. The resultan...