IEEE - Institute of Electrical and Electronics Engineers, Inc. - Informed Sampling for Asymptotically Optimal Path Planning

Author(s): Jonathan D. Gammell ; Timothy D. Barfoot ; Siddhartha S. Srinivasa
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2018
Volume: 34
Page(s): 966 - 984
ISSN (Electronic): 1941-0468
ISSN (Paper): 1552-3098
DOI: 10.1109/TRO.2018.2830331
Regular:

Anytime almost-surely asymptotically optimal planners, such as RRT*, incrementally find paths to every state in the search domain. This is inefficient once an initial solution is found, as then... View More

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