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Single-Query Probabilistic Roadmap Planning Algorithm using Remembering Exploration Method  

Kim, Jung-Tae (POSTECH 컴퓨터공학과)
Kim, Dae-Jin (POSTECH 컴퓨터공학과)
Publication Information
Journal of KIISE:Computing Practices and Letters / v.16, no.4, 2010 , pp. 487-491 More about this Journal
Abstract
In this paper we propose a new single-query path planning algorithm for working well in high-dimensional configuration space. With the notice of the similarity between single-query algorithms with exploration algorithms, we propose a new path planning algorithm, which applies the Remembering Exploration method, which is one of exploration algorithms, to a path-planning problem by selecting a node from a roadmap, finding out the neighbor nodes from the node, and then inserting the neighbor nodes into the roadmap, recursively. For the performance comparison, we had experiments in 2D and 3D environments and compared the time to find out the path. In the results our algorithm shows the superior performance than other path planning algorithms.
Keywords
Path Planning; Remembering Exploration Algorithm; Single-Query Probabilistic Roadmap;
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