An empirical study of optimal motion planning


Conference Paper

© 2014 IEEE. This paper presents a systematic benchmarking comparison between optimal motion planners. Six planners representing the categories of sampling-based, grid-based, and trajectory optimization methods are compared on synthetic problems of varying dimensionality, number of homotopy classes, and width and length of narrow passages. Performance statistics are gathered on success and convergence rates, and performance variations with respect to geometric characteristics are analyzed. Based on this analysis, we recommend planners that are likely to perform well for certain problem classes, and make recommendations for future planning research.

Full Text

Duke Authors

Cited Authors

  • Luo, J; Hauser, K

Published Date

  • January 1, 2014

Published In

Start / End Page

  • 1761 - 1768

Electronic International Standard Serial Number (EISSN)

  • 2153-0866

International Standard Serial Number (ISSN)

  • 2153-0858

International Standard Book Number 13 (ISBN-13)

  • 9781479969340

Digital Object Identifier (DOI)

  • 10.1109/IROS.2014.6942793

Citation Source

  • Scopus