HPRM: A hierarchical PRM
Publication
, Journal Article
Collins, AD; Agarwal, PK; Harer, JL
Published in: Proceedings - IEEE International Conference on Robotics and Automation
December 9, 2003
We introduce a hierarchical variant of the probabilistic roadmap method for motion planning. By recursively refining an initially sparse sampling in neighborhoods of the C-obstacle boundary, our algorithm generates a smaller roadmap that is more likely to find narrow passages than uniform sampling. We analyze the failure probability and computation time, relating them to path length, path clearance, roadmap size, recursion depth, and a local property of the free space. The approach is general, and can be tailored to any variety of robots. In particular, we describe algorithmic details for a planar articulated arm.
Duke Scholars
Published In
Proceedings - IEEE International Conference on Robotics and Automation
ISSN
1050-4729
Publication Date
December 9, 2003
Volume
3
Start / End Page
4433 / 4438
Citation
APA
Chicago
ICMJE
MLA
NLM
Collins, A. D., Agarwal, P. K., & Harer, J. L. (2003). HPRM: A hierarchical PRM. Proceedings - IEEE International Conference on Robotics and Automation, 3, 4433–4438.
Collins, A. D., P. K. Agarwal, and J. L. Harer. “HPRM: A hierarchical PRM.” Proceedings - IEEE International Conference on Robotics and Automation 3 (December 9, 2003): 4433–38.
Collins AD, Agarwal PK, Harer JL. HPRM: A hierarchical PRM. Proceedings - IEEE International Conference on Robotics and Automation. 2003 Dec 9;3:4433–8.
Collins, A. D., et al. “HPRM: A hierarchical PRM.” Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, Dec. 2003, pp. 4433–38.
Collins AD, Agarwal PK, Harer JL. HPRM: A hierarchical PRM. Proceedings - IEEE International Conference on Robotics and Automation. 2003 Dec 9;3:4433–4438.
Published In
Proceedings - IEEE International Conference on Robotics and Automation
ISSN
1050-4729
Publication Date
December 9, 2003
Volume
3
Start / End Page
4433 / 4438