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An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

Bera, Titas and Bhat, Seetharama M and Ghose, Debasish (2010) An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners. In: 13th Federation-of-International-Robot-soccer-Association Robot World Congress, SEP 15-17, 2010 , Amirit Vishwa Vidyapeetham, Bangalore, INDIA, pp. 234-241.

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Official URL: http://www.springerlink.com/content/m21460357k705r...


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.

Item Type: Conference Paper
Series.: Communications in Computer and Information Science
Publisher: Springer
Additional Information: Copyright of this article belongs to Springer.
Keywords: Randomized Algorithm;Robot Motion Planning;PRM;Random Walk
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 08 Apr 2011 05:37
Last Modified: 08 Apr 2011 05:46
URI: http://eprints.iisc.ac.in/id/eprint/36582

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