Creating High-quality Paths for Motion Planning

@article{Geraerts2007CreatingHP,
  title={Creating High-quality Paths for Motion Planning},
  author={Roland Geraerts and Mark H. Overmars},
  journal={I. J. Robotics Res.},
  year={2007},
  volume={26},
  pages={845-863}
}
Many algorithms have been proposed that create a path for a robot in an environment with obstacles. Most methods are aimed at finding a solution. However, for many applications, the path must be of a good quality as well. That is, a path should be short and should keep some amount of minimum clearance to the obstacles. Traveling along such a path reduces the chances of collisions due to the difficulty of measuring and controlling the precise position of the robot. This paper reports a new… CONTINUE READING
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A general framework for sampling on the medial axis of the free space

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