C-PRM経路のハイブリッド化による非ホロノミック運動の品質向上
Improving the Quality of Non-Holonomic Motion by Hybridizing C-PRM Paths
C-PRMと経路ハイブリッド化を組み合わせ、経路長・滑らかさ・クリアランス・後退回数などの品質指標を考慮した高品質な非ホロノミック（車両型）運動経路を生成する手法を提案した。
著者: Itamar Berger, Bosmat Eldar, Gal Zohar, Barak Raveh, Dan Halperin
分類: cs.RO
原文アブストラクト
Sampling-based motion planners are an effective means for generating collision-free motion paths. However, the quality of these motion paths, with respect to different quality measures such as path length, clearance, smoothness or energy, is often notoriously low. This problem is accentuated in the case of non-holonomic sampling-based motion planning, in which the space of feasible motion trajectories is restricted. In this study, we combine the C-PRM algorithm by Song and Amato with our recently introduced path-hybridization approach, for creating high quality non-holonomic motion paths, with combinations of several different quality measures such as path length, smoothness or clearance, as well as the number of reverse car motions. Our implementation includes a variety of code optimizations that result in nearly real-time performance, and which we believe can be extended with further optimizations to a real-time tool for the planning of high-quality car-like motion.
