Cart (Loading....) | Create Account
Close category search window
 

Motion planning using dynamic roadmaps

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kallman, M. ; Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; Mataric, M.

We evaluate the use of dynamic roadmaps for online motion planning in changing environments. When changes are detected in the workspace, the validity state of affected edges and nodes of a precompiled roadmap are updated accordingly. We concentrate in this paper on analyzing the tradeoffs between maintaining dynamic roadmaps and applying an on-line bidirectional rapidly-exploring random tree (RRT) planner alone, which requires no preprocessing or maintenance. We ground the analysis in several benchmarks in virtual environments with randomly moving obstacles. Different robotics structures are used, including a 17 degrees of freedom model of NASA's Robonaut humanoid. Our results show that dynamic roadmaps can be both faster and more capable for planning difficult motions than using on-line planning alone. In particular, we investigate its scalability to 3D workspaces and higher dimensional configurations spaces, as our main interest is the application of the method to interactive domains involving humanoids.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.