Toward Optimal Sampling in the Space of Paths

Colin Green and Alonzo Kelly
13th International Symposium of Robotics Research, November, 2007.


Download
  • Adobe portable document format (pdf) (3MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
While spatial sampling of points has already received much attention, the motion planning problem can also be viewed as a process which samples the function space of paths. We define a search space to be a set of candidate paths and consider the problem of designing a search space which is most likely to produce a solution given a probabilistic representation of all possible environments. We introduce the concept of relative completeness which is the prior probability, before the environment is specified, of producing a solution path in a bounded amount of computation. We show how this probability is related to the mutual separation of the set of paths searched. The problem of producing an optimal set can be related to the maximum k-facility dispersion problem which is known to be NP-hard. We propose a greedy algorithm for producing a good set of paths and demonstrate that it produces results with both low dispersion and high prior probability of success.

Keywords
motion planning, obstacle avoidance, field robotics, mobile robots

Notes
Associated Project(s): UGCV PerceptOR Integrated

Text Reference
Colin Green and Alonzo Kelly, "Toward Optimal Sampling in the Space of Paths," 13th International Symposium of Robotics Research, November, 2007.

BibTeX Reference
@inproceedings{Green_2007_5950,
   author = "Colin Green and Alonzo Kelly",
   title = "Toward Optimal Sampling in the Space of Paths",
   booktitle = "13th International Symposium of Robotics Research",
   month = "November",
   year = "2007",
}