Chapter

Trends in Intelligent Robotics

Volume 103 of the series Communications in Computer and Information Science pp 234-241

An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

  • Titas BeraAffiliated withDepartment of Aerospace Engineering, Indian Institute of Science
  • , M. Seetharama BhatAffiliated withDepartment of Aerospace Engineering, Indian Institute of Science
  • , Debasish GhoseAffiliated withDepartment of Aerospace Engineering, Indian Institute of Science

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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