The Gaussian sampling strategy for probabilistic roadmap planners

Probabilistic roadmap planners (PRMs) form a relatively new technique for motion planning that has shown great potential. A critical aspect of PRM is the probabilistic strategy used to sample the free configuration space. In this paper we present a new, simple sampling strategy, which we call the Ga...

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Hauptverfasser:	Boor, V., Overmars, M.H., van der Stappen, A.F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computer science Genetic algorithms Layout Mobile robots Motion planning Neural networks Orbital robotics Path planning Sampling methods
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creator	Boor, V. Overmars, M.H. van der Stappen, A.F.
description	Probabilistic roadmap planners (PRMs) form a relatively new technique for motion planning that has shown great potential. A critical aspect of PRM is the probabilistic strategy used to sample the free configuration space. In this paper we present a new, simple sampling strategy, which we call the Gaussian sampler, that gives a much better coverage of the difficult parts of the free configuration space. The approach uses only elementary operations which makes it suitable for many different planning problems. Experiments indicate that the technique is very efficient indeed.
doi_str_mv	10.1109/ROBOT.1999.772447
format	Conference Proceeding
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subjects	Computer science Genetic algorithms Layout Mobile robots Motion planning Neural networks Orbital robotics Path planning Sampling methods
title	The Gaussian sampling strategy for probabilistic roadmap planners
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