Abstract
Sampling-based path planning algorithms are well-known because they are able to find a path in a very short period of time, even in high-dimensional spaces. However, they are non-smooth, random paths far away from the optimum. In this paper we introduce a novel improving technique based on the Fast Marching Method which improves in a deterministic, non-iterative way the initial path provided by a sampling-based methods. Simulation results show that the computation time of the proposed method is low and that path length and smoothness are improved.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Kavraki, L.E., Svestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. on Robotics and Automation 12, 566–580 (1996)
LaValle, S.M., Kuffner, J.J.: Randomized kinodynamic planning. Intl. J. of Robotics Research 20, 378–400 (2001)
LaValle, S.M.: Planning Algorithms. Cambridge University Press (2006)
Keraman, S., Farazolli, E.: Sampling-based algorithms for optimal motion planning. Intl. J. of Robotics Research 30, 846–894 (2010)
Perez, A., Karaman, S., Shkolnik, A.C., Frazzoli, E., Teller, S.J., Walter, M.R.: Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms. In: IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (2011)
Islam, F., Nasir, J., Malik, U., Ayax, Y., Hasan, O.: RRT*-Smart: Rapid convergence implementation of RRT* towards optimal solution. In: Intl. Conf. Mechatronics and Automation (2012)
Valero, A., Gómez, J.V., Garrido, S., Moreno, L.: Fast Marching Method for Safer, More Efficient Mobile Robot Trajectories. IEEE Robotics and Automation Magazine (in press)
Yershov, D.S., LaValle, S.M.: Simplicial Dijkstra and A* algorithms: from graphs to continuous spaces. Advanced Robotics 26, 2065–2085 (2012)
Bronstein, A.M., Bronstein, M.M., Kimmel, R.: Numerical geometry of non-rigid shapes. Pringer Monographs in Computer Science (2008)
Tsitsiklis, J.N.: Efficient algorithms for globally optimal trajectories. IEEE Trans. Automatic Control 40, 1528–1538 (1995)
Sethian, J.A.: A fast marching level set method for monotonically advancing fronts. Proc. National Academy of Sciences 93, 1591–1595 (1996)
Kimmel, R., Sethian, J.A.: Computing geodesic paths on manifolds. National Academy of Sciences 95, 8431–8435 (1998)
Dijkstra, E.W.: A Note on Two Problems in Connexion With Graphs. Numerische Mathematik 1, 269–271 (1959)
Hassouna, M.S., Farag, A.A.: Multistencils Fast Marching methods: a highly accurate solution to the Eikonal equation on cartesian domains. IEEE Trans. Pattern Analysis and Machine Intelligence 29, 1563–1574 (2007)
Ahmed, S., Bak, S., McLaughlim, J., Renzi, D.: A third order accurate fast marching method for the Eikonal equation in two dimensions. J. on Scientific Computing 33, 2402–2420 (2011)
Garrido, S., Moreno, L., Abderrahimm, M., Blanco, D.: FM2: A Real-time sensor-based feedback controller for mobile robots. Intl. J. of Robotics and Automation 24, 3169–3192 (2009)
Chew, L.P.: Constrained Delaunay Triangulations. In: Proc. of the Third Annual Symposium on Computational Geometry, pp. 215–222 (1987)
Cohen, B., Şucan, I.A., Chitta, S.: Generic Infrastructure for Benchmarking Motion Planners. In: IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Gómez, J.V., Álvarez, D., Garrido, S., Moreno, L. (2014). Improving Sampling-Based Path Planning Methods with Fast Marching. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-03653-3_18
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03652-6
Online ISBN: 978-3-319-03653-3
eBook Packages: EngineeringEngineering (R0)