高度化BIT*：グラフ探索技術を統合したサンプリングベース経路計画
Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques
経路計画を探索と近似の2問題に分解し、打ち切り可能なグラフ探索と漸近最適サンプリングプランナを統合したABIT*を提案。初期解を素早く見つけつつ最適解へ収束し、既存手法を上回る性能を示した。
著者: Marlin P. Strub, Jonathan D. Gammell
分類: cs.RO
原文アブストラクト
Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues work to combine their strengths and mitigate their limitations using a unified planning paradigm. It does this by viewing the path planning problem as the two subproblems of search and approximation and using advanced graph-search techniques on a sampling-based approximation. This perspective leads to Advanced BIT*. ABIT* combines truncated anytime graph-based searches, such as ATD*, with anytime almost-surely asymptotically optimal sampling-based planners, such as RRT*. This allows it to quickly find initial solutions and then converge towards the optimum in an anytime manner. ABIT* outperforms existing single-query, sampling-based planners on the tested problems in $\mathbb{R}^{4}$ and $\mathbb{R}^{8}$, and was demonstrated on real-world problems with NASA/JPL-Caltech.
