A Low Dispersion Probabilistic Roadmaps (LD-PRM) Algorithm for Fast and Efficient Sampling-Based Motion Planning

In this paper, we propose a new learning strategy for a probabilistic roadmap (PRM) algorithm. The proposed strategy is based on reducing the dispersion of the generated set of samples. We defined a forbidden range around each selected sample and ignored this region in further sampling. The resultan...

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Bibliographic Details
Main Authors: Weria Khaksar, Tang Sai Hong, Mansoor Khaksar, Omid Motlagh
Format: Article
Published: SAGE Publishing 2013-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/56973