An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

  • Titas Bera
  • M. Seetharama Bhat
  • Debasish Ghose
Conference paper

DOI: 10.1007/978-3-642-15810-0_30

Part of the Communications in Computer and Information Science book series (CCIS, volume 103)
Cite this paper as:
Bera T., Seetharama Bhat M., Ghose D. (2010) An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners. In: Vadakkepat P. et al. (eds) Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg

Abstract

Sampling based planners have been successful in path planning of robots with many degrees of freedom, but still remains ineffective when the configuration space has a narrow passage. We present a new technique based on a random walk strategy to generate samples in narrow regions quickly, thus improving efficiency of Probabilistic Roadmap Planners. The algorithm substantially reduces instances of collision checking and thereby decreases computational time. The method is powerful even for cases where the structure of the narrow passage is not known, thus giving significant improvement over other known methods.

Keywords

Randomized Algorithm Robot Motion Planning PRM Random Walk 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Titas Bera
    • 1
  • M. Seetharama Bhat
    • 1
  • Debasish Ghose
    • 1
  1. 1.Department of Aerospace EngineeringIndian Institute of ScienceIndia

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