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Communication Dans Un Congrès Année : 2014

Efficient sampling-based approaches to optimal path planning in complex cost spaces

Didier Devaurs
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Thierry Simeon
Juan Cortés

Résumé

Sampling-based algorithms for path planning have achieved great success during the last 15 years, thanks to their ability to efficiently solve complex high-dimensional problems. However, standard versions of these algorithms cannot guarantee optimality or even high-quality for the produced paths. In recent years, variants of these methods, taking cost criteria into account during the exploration process, have been proposed to compute high-quality paths (such as T-RRT), some even guaranteeing asymptotic optimality (such as RRT*). In this paper, we propose two new sampling-based approaches that combine the underlying principles of RRT* and T-RRT. These algorithms, called T-RRT* and AT-RRT, offer probabilistic completeness and asymptotic optimality guarantees. Results presented on several classes of problems show that they converge faster than RRT* toward the optimal path, especially when the topology of the search space is complex and/or when its dimensionality is high.
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Dates et versions

hal-01062970 , version 1 (11-09-2014)

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Citer

Didier Devaurs, Thierry Simeon, Juan Cortés. Efficient sampling-based approaches to optimal path planning in complex cost spaces. International Workshop on the Algorithmic Foundations of Robotics (WAFR), Aug 2014, Istanbul, Turkey. pp.16. ⟨hal-01062970⟩
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