.png){kind=icon}
返回
Optimal Path Planning in Complex Cost Spaces With Sampling-Based Algorithms
.png){kind=icon}
OA
AI
DOI：10.1109/TASE.2015.2487881.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Sampling-based algorithms for path planning, such as the Rapidly-exploring Random Tree (RRT), have achieved great success, thanks to their ability to efficiently solve complex high-dimensional problems. However, standard versions of these algorithms cannot guarantee optimality or even high-quality for the produced paths. In recent years, variants of these methods, such as T-RRT, have been proposed to deal with cost spaces: by taking configuration-cost functions into account during the exploration process, they can produce high-quality (i.e., low-cost) paths. Other novel variants, such as RRT*, can deal with optimal path planning: they ensure convergence toward the optimal path, with respect to a given path-quality criterion. In this paper, we propose to solve a complex problem encompassing this two paradigms: optimal path planning in a cost space. For that, we develop two efficient sampling-based approaches that combine the underlying principles of RRT* and T-RRT. These algorithms, called T-RRT* and AT-RRT, offer the same asymptotic optimality guarantees as RRT*. Results presented on several classes of problems show that they converge faster than RRT* toward the optimal path, especially when the topology of the search space is complex and/or when its dimensionality is high.
Keyword:
Anytime path planning
cost space path planning
optimal path planning
sampling-based path planning
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
6.4
论文数:
5.1K
被引数:
1.6W
机构
引用论文
Human hemokinin-1 promotes migration of melanoma cells and increases MMP-2 and MT1-MMP expression by activating tumor cell NK1 receptors.png)
Peptides
PeptidesIF0
PREAI
分享收藏Phytochemicals and antioxidative enzymes defence mechanism on occurrence of yellow vein mosaic disease of pumpkin (Cucurbita moschata)3 Biotech
OAAI
3 BiotechIF0
OAAI分享收藏Retracted Article: The influence of gradient and porous configurations on the microwave absorbing performance of multilayered graphene/thermoplastic polyurethane composite foamsRSC AdvancesOAAI
RSC AdvancesIF0
OAAI分享收藏分享收藏
查看更多内容