1. Visibility-based probabilistic roadmaps for motion planning
- Author
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Carole Nissoux, Thierry Siméon, Jean-Paul Laumond, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
- Subjects
0209 industrial biotechnology ,Exploit ,Computer science ,Distributed computing ,02 engineering and technology ,Probabilistic roadmap ,Structuring ,Any-angle path planning ,[INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] ,Computer Science::Robotics ,020901 industrial engineering & automation ,Software ,0202 electrical engineering, electronic engineering, information engineering ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Computer vision ,Motion planning ,business.industry ,Visibility (geometry) ,Computer Science Applications ,Human-Computer Interaction ,Hardware and Architecture ,Control and Systems Engineering ,020201 artificial intelligence & image processing ,Artificial intelligence ,Configuration space ,business - Abstract
International audience; This paper presents a variant of probabilistic roadmap methods (PRM) that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration space into visibility domains in order to produce small roadmaps, called visibility roadmaps. Our algorithm integrates an original termination condition related to the volume of the free space covered by the roadmap. The planner has been implemented within a software platform allowing us to address a large class of mechanical systems. Experiments show the efficiency of the approach, in particular for capturing narrow passages of collision-free configuration spaces.
- Published
- 2012