A New Robot Path Planning Method Based on Probabilistic Foam

  title={A New Robot Path Planning Method Based on Probabilistic Foam},
  author={Y. S. Silveira and P. J. Alsina},
  journal={2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
This paper analyzes the characteristics of the path obtained using a new robot path planning method. In this method, the free space is partially covered by a set, called probabilistic foam, composed by overlapping convex subsets, called bubbles. The path from an initial configuration to a desired final configuration is found through a search tree constructed by randomly propagating de foam through the free space. Computer simulation results show that the obtained path is relatively short and… CONTINUE READING


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