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Authors: Sofiane Ahmed Ali ; Eric Vasselin and Alain Faure

Affiliation: GREAH, Le Havre University, France

ISBN: 978-972-8865-60-3

ISSN: 2184-2809

Keyword(s): Probabilistic path planner, probabilistic roadmap, Robot Path Planning, Randomized Algorithms, Random sampling.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: The probabilistic path planner (PPP) is a general planning scheme that yields fast robot path planners for a wide variety of problems, involving high degree of freedom articulated robots, non holonomic robots, and multiple robots. This paper presents a new probabilistic approach for finding paths through narrow passages. Our probabilistic planner follows the general framework of probabilistic roadmap (PRM), but to increase sample density in difficult areas like narrow passages, we define two sampling constraints in order to get much more points than a classic PRM gets in such areas. We simulate our planner in 2D environments and the simulations results shows good performance for our planner.

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Paper citation in several formats:
Ali S.; Vasselin E.; Faure A. and (2006). A NEW HYBRID SAMPLING STRATEGY FOR PRM PLANNERS - To Address Narrow Passages Problem.In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-60-3, pages 561-564. DOI: 10.5220/0001220405610564

@conference{icinco06,
author={Sofiane Ahmed Ali and Eric Vasselin and Alain Faure},
title={A NEW HYBRID SAMPLING STRATEGY FOR PRM PLANNERS - To Address Narrow Passages Problem},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2006},
pages={561-564},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001220405610564},
isbn={978-972-8865-60-3},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A NEW HYBRID SAMPLING STRATEGY FOR PRM PLANNERS - To Address Narrow Passages Problem
SN - 978-972-8865-60-3
AU - Ali, S.
AU - Vasselin, E.
AU - Faure, A.
PY - 2006
SP - 561
EP - 564
DO - 10.5220/0001220405610564

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