Fast planning through planning graph analysis
Artificial Intelligence
Robot Motion Planning
On-line Collision Avoidance for Multiple Robots Using B-Splines
On-line Collision Avoidance for Multiple Robots Using B-Splines
Planning Algorithms
Creating High-quality Paths for Motion Planning
International Journal of Robotics Research
Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
International Journal of Robotics Research
Journal of Artificial Intelligence Research
-Splines for the Smooth Path Generation of Wheeled Mobile Robots
IEEE Transactions on Robotics
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This paper proposes a feasible variation of approximate grid-based path-planning methods, which have been replaced with probabilistic methods nowadays, due mainly to their impracticality in high-dimensional spaces. Our aim is to demonstrate that, with an incremental exploration of the CSpace by means of Interpolated walk primitives and ANY-Time algorithms, we can generate-online-high-quality solutions that can be compared with probabilistic methods and can even improve some aspects, such as the completeness. Computational time, path smoothness, path clearance, and path distance are the qualifiers used to evaluate the path planner. These quality factors are critical in robotics. In fact, in both mobile and industrial robots, the computational time is a primary requirement to work online, the clearance gives security to the movements of the robot, and the smoothness can prolong the life of the mechanical components. Our method has been compared to probabilistic path planners, with the feasibility and benefits of our algorithm being proved in terms of the quality factors aforementioned.