A Comparative Study of Probabilistic

【文件属性】：
文件名称：A Comparative Study of Probabilistic
文件大小：1.47MB
文件格式：PDF
更新时间：2021-02-17 05:57:06
roadmap The probabilistic roadmap approach is one of the leading motion plan- ning techniques. Over the past eight years the technique has been studied by many different researchers. This has led to a large number of variants of the approach, each with its own merits. It is difficult to compare the different techniques because they were tested on different types of scenes, using different underlying libraries, implemented by different people on different machines. In this paper we provide a comparative study of a number of these techniques, all implemented in a single system and run on the same test scenes and on the same computer. In particu- lar we compare collision checking techniques, basic sampling techniques, and node adding techniques. The results should help future users of the probabilistic roadmap planning approach to choose the correct techniques