Please use this identifier to cite or link to this item:
https://doi.org/10.1049/trit.2018.1058
DC Field | Value | |
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dc.title | Maximum entropy searching | |
dc.contributor.author | Jiang, R. | |
dc.contributor.author | Zhou, H. | |
dc.contributor.author | Wang, H. | |
dc.contributor.author | Ge, S.S. | |
dc.date.accessioned | 2021-12-09T03:05:40Z | |
dc.date.available | 2021-12-09T03:05:40Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | Jiang, R., Zhou, H., Wang, H., Ge, S.S. (2019). Maximum entropy searching. CAAI Transactions on Intelligence Technology 4 (1) : 1-Aug. ScholarBank@NUS Repository. https://doi.org/10.1049/trit.2018.1058 | |
dc.identifier.issn | 2468-6557 | |
dc.identifier.uri | https://scholarbank.nus.edu.sg/handle/10635/209992 | |
dc.description.abstract | This study presents a new perspective for autonomous mobile robots path searching by proposing a biasing direction towards causal entropy maximisation during random tree generation. Maximum entropy-biased rapidly-exploring random tree (ME-RRT) is proposed where the searching direction is computed from random path sampling and path integral approximation, and the direction is incorporated into the existing rapidly-exploring random tree (RRT) planner. Properties of ME-RRT including degenerating conditions and additional time complexity are also discussed. The performance of the proposed approach is studied, and the results are compared with conventional RRT/RRT* and goal-biased approach in 2D/3D scenarios. Simulations show that trees are generated efficiently with fewer iteration numbers, and the success rate within limited iterations has been greatly improved in complex environments. © 2018 IET. All Rights Reserved. | |
dc.publisher | Institution of Engineering and Technology | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 International | |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.source | Scopus OA2019 | |
dc.type | Article | |
dc.contributor.department | DEPT OF ELECTRICAL & COMPUTER ENGG | |
dc.description.doi | 10.1049/trit.2018.1058 | |
dc.description.sourcetitle | CAAI Transactions on Intelligence Technology | |
dc.description.volume | 4 | |
dc.description.issue | 1 | |
dc.description.page | 1-Aug | |
Appears in Collections: | Staff Publications Elements |
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