Title :
Visibility based probabilistic roadmaps
Author :
Nissoux, C. ; Siméon, T. ; Laumond, J.P.
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
Presents a variant of probabilistic roadmap algorithms that 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. The algorithm 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 capturing narrow passages of collision-free configuration spaces
Keywords :
iterative methods; path planning; probability; robot vision; collision-free configuration spaces; free-space structuring; mechanical systems; motion planning; software platform; visibility based probabilistic roadmaps; Motion planning; Orbital robotics; Path planning; Software algorithms;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811662
