An empirical study of optimal motion planning
Published
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