Adaptive Space Expansion for Fast Motion Planning
文献类型：期刊论文
| 作者 | Shenglei Shi; Jiankui Chen |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:6页码:1499-1514 |
| 关键词 | Adaptive space expansion (ASE) hyper-ellipsoid ring informed sampling motion planning |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123765 |
| 英文摘要 | The sampling process is very inefficient for sampling-based motion planning algorithms that excess random samples are generated in the planning space. In this paper, we propose an adaptive space expansion (ASE) approach which belongs to the informed sampling category to improve the sampling efficiency for quickly finding a feasible path. The ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary space. Specifically, for a constructed small hyper-ellipsoid ring subset, if the algorithm cannot find a feasible path in it, then the subset is expanded. Thus, the ASE method successively does space exploring and space expansion until the final path has been found. Besides, we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in it. At last, we present a feasible motion planner BiASE and an asymptotically optimal motion planner BiASE* using the bidirectional exploring method and the ASE strategy. Simulations demonstrate that the computation speed is much faster than that of the state-of-the-art algorithms. The source codes are available at https://github.com/shshlei/ompl. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/56465]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Shenglei Shi,Jiankui Chen. Adaptive Space Expansion for Fast Motion Planning[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(6):1499-1514. |
| APA | Shenglei Shi,&Jiankui Chen.(2024).Adaptive Space Expansion for Fast Motion Planning.IEEE/CAA Journal of Automatica Sinica,11(6),1499-1514. |
| MLA | Shenglei Shi,et al."Adaptive Space Expansion for Fast Motion Planning".IEEE/CAA Journal of Automatica Sinica 11.6(2024):1499-1514. |
入库方式： OAI收割
来源：自动化研究所
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