An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

  • Titas Bera
  • M. Seetharama Bhat
  • Debasish Ghose
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 103)

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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