Motion planning is an important step in any complex robotic motion task. Many algorithms deal with this problem and a lot of effective approaches makes use of random generation of roadmaps or motion commands. In this paper, a novel algorithm for random roadmap generation is proposed. This approach, which addresses the planning problem with a resilience philosophy, relies on a network model with some particular topological properties. These properties of robustness against random faults and intentional attacks are functional to devising a suitable solution for the planning problem. Comparative simulations against several algorithms have been performed to show the effectiveness of the proposed approach.
Gasparri, A., Oliva, G., Panzieri, S. (2009). Path Planning using a Lazy Spatial Network PRM. In Proceedings of the 17th Mediterranean Conference on Control and Automation (pp.940-945). IEEE [10.1109/MED.2009.5164666].
Path Planning using a Lazy Spatial Network PRM
GASPARRI, ANDREA;PANZIERI, Stefano
2009-01-01
Abstract
Motion planning is an important step in any complex robotic motion task. Many algorithms deal with this problem and a lot of effective approaches makes use of random generation of roadmaps or motion commands. In this paper, a novel algorithm for random roadmap generation is proposed. This approach, which addresses the planning problem with a resilience philosophy, relies on a network model with some particular topological properties. These properties of robustness against random faults and intentional attacks are functional to devising a suitable solution for the planning problem. Comparative simulations against several algorithms have been performed to show the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
