Abstract
A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
| Original language | English |
|---|---|
| Pages (from-to) | 89-92 |
| Number of pages | 4 |
| Journal | Journal of Beijing Institute of Technology (English Edition) |
| Volume | 11 |
| Issue number | 1 |
| Publication status | Published - Mar 2002 |
Keywords
- Collision avoidance
- Path planning
- Probabilistic roadmap method
- Robotics
- Virtual reality