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https://scholarbank.nus.edu.sg/handle/10635/40413
DC Field | Value | |
---|---|---|
dc.title | Workspace importance sampling for probabilistic roadmap planning | |
dc.contributor.author | Kurniawati, H. | |
dc.contributor.author | Hsu, D. | |
dc.date.accessioned | 2013-07-04T08:03:44Z | |
dc.date.available | 2013-07-04T08:03:44Z | |
dc.date.issued | 2004 | |
dc.identifier.citation | Kurniawati, H.,Hsu, D. (2004). Workspace importance sampling for probabilistic roadmap planning. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2 : 1618-1624. ScholarBank@NUS Repository. | |
dc.identifier.isbn | 0780384636 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/40413 | |
dc.description.abstract | Probabilistic Roadmap (PRM) planners have been successful in path planning of robots with many degrees of freedom, but they behave poorly when a robot's configuration space contains narrow passages. This paper presents workspace importance sampling (WIS), a new sampling strategy for PRM planning. Our main idea is to use geometric information from a robot's workspace as "importance" values to guide sampling in the corresponding configuration space. By doing so, WIS increases the sampling density in narrow passages and decreases the sampling density in wide-open regions. We tested the new planner on rigid-body and articulated robots in 2-D and 3-D environments. Experimental results show that WIS improves the planner's performance for path planning problems with narrow passages. | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | COMPUTER SCIENCE | |
dc.description.sourcetitle | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | |
dc.description.volume | 2 | |
dc.description.page | 1618-1624 | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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