A Novel Version of Sampling-based Motion Planner for Manipulation with Faster Initial Solution and Convergence

Guoqiang Zhao*, Xiangzhou Wang, Shuhua Zheng, Qian Han

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

This paper presents, Anytime Fast-BIT∗ (AFBIT∗), a sampling based, asymptotically optimal manipulation motion planner which quickly finds an initial feasible path and rapidly improves the path quality toward optimality. AFBIT∗ is guided by modified heuristics in task space for faster first solution. A local optimization method is adopted at the end of every round to optimize the current best path and generate the next vertex and edge for the global path while a new round begins to improve the quality of the remaining path. Simulation results suggest AFBIT∗ is more efficient and effective on manipulation problems than BIT∗ and Fast-BIT∗.

源语言英语
主期刊名Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022
出版商Institute of Electrical and Electronics Engineers Inc.
357-363
页数7
ISBN(电子版)9781665478960
DOI
出版状态已出版 - 2022
活动34th Chinese Control and Decision Conference, CCDC 2022 - Hefei, 中国
期限: 15 8月 202217 8月 2022

出版系列

姓名Proceedings of the 34th Chinese Control and Decision Conference, CCDC 2022

会议

会议34th Chinese Control and Decision Conference, CCDC 2022
国家/地区中国
Hefei
时期15/08/2217/08/22

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