Local Randomization in Neighbor Selection Improves PRM Roadmap Quality

Probabilistic Roadmap Methods (PRMs) are one of the most used classes of motion planning methods. These sampling-based methods generate robot configurations (nodes) and then connect them to form a graph (roadmap) containing representative feasible pathways. A key step in PRM roadmap construction inv...

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Bibliographic Details
Main Author: Boyd, Bryan 1985-
Other Authors: Amato, Nancy M
Format: Others
Published: 2013
Subjects:
Online Access:http://hdl.handle.net/1969.1/148341