Path planning using lazy PRM
Bohlin, R.; Kavraki, L.E.
Robotics and Automation, 2000. Proceedings. ICRA apos;00. IEEE International Conference on
Volume 1, Issue , 2000 Page(s):521 - 528 vol.1
Digital Object Identifier 10.1109/ROBOT.2000.844107
Summary:Describes an approach to probabilistic roadmap planners (PRMs).
The overall theme of the algorithm, called Lazy PRM, is to minimize the
number of collision checks performed during planning and hence minimize
the running time of the planner. Our algorithm builds a roadmap in the
configuration space, whose nodes are the user-defined initial and goal
configurations and a number of randomly generated nodes. Neighboring
nodes are connected by edges representing paths between the nodes. In
contrast with PRMs, our planner initially assumes that all nodes and
edges in the roadmap are collision-free, and searches the roadmap at
hand for a shortest path between the initial and the goal node. The
nodes and edges along the path are then checked for collision. If a
collision with the obstacles occurs, the corresponding nodes and edges
are removed from the roadmap. Our planner either finds a new shortest
path, or first updates the roadmap with new nodes and edges, and then
searches for a shortest path. The above process is repeated until a
collision-free path is returned. Lazy PRM is tailored to efficiently
answer single planning queries, but can also be used for multiple
queries. Experimental results presented in the paper show that our lazy
method is very efficient in practice
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