DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jung Hwan | ko |
dc.contributor.author | Kwon, Osung | ko |
dc.contributor.author | Zhang, Liangjun | ko |
dc.contributor.author | Yoon, Sung-Eui | ko |
dc.date.accessioned | 2014-12-16 | - |
dc.date.available | 2014-12-16 | - |
dc.date.created | 2014-09-15 | - |
dc.date.created | 2014-09-15 | - |
dc.date.issued | 2014-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.30, no.4, pp.1002 - 1011 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/192644 | - |
dc.description.abstract | We present a novel randomized path planner for rigid robots to efficiently handle various environments that have different characteristics. We first present a bridge line test that can identify narrow passage regions and then selectively performs an optimization-based retraction only at those regions. We also propose a noncolliding line test, which is a dual operator to the bridge line test, as a culling method to avoid generating samples near wide-open free spaces. These two line tests are performed with a small computational overhead. We have tested our method with different benchmarks that have varying amounts of narrow passages. Our method achieves up to several times improvements over prior RRT-based planners and consistently shows the best performance across all the tested benchmarks. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | SAMPLING NARROW PASSAGES | - |
dc.subject | PROBABILISTIC ROADMAPS | - |
dc.subject | MOTION | - |
dc.subject | ALGORITHMS | - |
dc.subject | SPACE | - |
dc.title | A Selective Retraction-Based RRT Planner for Various Environments | - |
dc.type | Article | - |
dc.identifier.wosid | 000340451800020 | - |
dc.identifier.scopusid | 2-s2.0-84905816414 | - |
dc.type.rims | ART | - |
dc.citation.volume | 30 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 1002 | - |
dc.citation.endingpage | 1011 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.identifier.doi | 10.1109/TRO.2014.2309836 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Yoon, Sung-Eui | - |
dc.contributor.nonIdAuthor | Kwon, Osung | - |
dc.contributor.nonIdAuthor | Zhang, Liangjun | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Motion and path planning | - |
dc.subject.keywordAuthor | sampling-based motion planning | - |
dc.subject.keywordAuthor | various environments | - |
dc.subject.keywordPlus | SAMPLING NARROW PASSAGES | - |
dc.subject.keywordPlus | PROBABILISTIC ROADMAPS | - |
dc.subject.keywordPlus | MOTION | - |
dc.subject.keywordPlus | ALGORITHMS | - |
dc.subject.keywordPlus | SPACE | - |
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