Carnegie Mellon University
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Realtime Informed Path Sampling for Motion Planning Search

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journal contribution
posted on 2011-08-01, 00:00 authored by Ross A Knepper, Matthew T. Mason

Robot motions typically originate from an uninformed path sampling process such as random or low-dispersion sampling. We demonstrate an alternative approach to path sampling that closes the loop on the expensive collision-testing process. Although all necessary information for collision-testing a path is known to the planner, that information is typically stored in a relatively unavailable form in a costmap. By summarizing the most salient data in a more accessible form, our process delivers a denser sampling of the free space per unit time than open-loop sampling techniques. We obtain this result by probabilistically modeling—in real time and with minimal information—the locations of obstacles, based on collision test results. We demonstrate up to a 780% increase in paths surviving collision test.




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