TY - JOUR
KW - Probabilistic Roadmap
KW - Sampling
KW - Planning
KW - Robotics
AU - Lhilo Kenye
AU - Rahul Kala
AB - Sampling-based motion planning in the field of robot motion planning has provided an effective approach to finding path for even high dimensional configuration space and with the motivation from the concepts of sampling based-motion planners, this paper presents a new sampling-based planning strategy called Optimistic Motion Planning using Recursive Sub-Sampling (OMPRSS), for finding a path from a source to a destination sanguinely without having to construct a roadmap or a tree. The random sample points are generated recursively and connected by straight lines. Generating sample points is limited to a range and edge connectivity is prioritized based on their distances from the line connecting through the parent samples with the intention to shorten the path. The planner is analysed and compared with some sampling strategies of probabilistic roadmap method (PRM) and the experimental results show agile planning with early convergence.
IS - Regular Issue
M1 - 4
N2 - Sampling-based motion planning in the field of robot motion planning has provided an effective approach to finding path for even high dimensional configuration space and with the motivation from the concepts of sampling based-motion planners, this paper presents a new sampling-based planning strategy called Optimistic Motion Planning using Recursive Sub-Sampling (OMPRSS), for finding a path from a source to a destination sanguinely without having to construct a roadmap or a tree. The random sample points are generated recursively and connected by straight lines. Generating sample points is limited to a range and edge connectivity is prioritized based on their distances from the line connecting through the parent samples with the intention to shorten the path. The planner is analysed and compared with some sampling strategies of probabilistic roadmap method (PRM) and the experimental results show agile planning with early convergence.
PY - 2022
SP - 87
EP - 99
T2 - International Journal of Interactive Multimedia and Artificial Intelligence
TI - Optimistic Motion Planning Using Recursive Sub- Sampling: A New Approach to Sampling-Based Motion Planning
UR - https://www.ijimai.org/journal/sites/default/files/2022-05/ijimai_7_4_8.pdf
VL - 7
SN - 1989-1660
ER -