An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners

  title={An Efficient Random Walk Strategy for Sampling Based Robot Motion Planners},
  author={Titas Bera and M. Seetharama Bhat and Debasish Ghose},
Sampling based planners have been successful in path planning of robots with many degrees of freedom, but still remains ineffective when the configuration space has a narrow passage. We present a new technique based on a random walk strategy to generate samples in narrow regions quickly, thus improving efficiency of Probabilistic Roadmap Planners. The algorithm substantially reduces instances of collision checking and thereby decreases computational time. The method is powerful even for cases… 
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  • J. Reif
  • Mathematics
    20th Annual Symposium on Foundations of Computer Science (sfcs 1979)
  • 1979
This paper concerns the problem of moving a polyhedron through Euclidean space while avoiding polyhedral obstacles.