On Improving Path Clearance Optimization Method for Motion Planning

Fu Yu Yan; Fan Wu; Fei Peng; Zhi Jie Zhu

doi:10.4028/www.scientific.net/AMR.926-930.3128

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 926-930On Improving Path Clearance Optimization Method...

On Improving Path Clearance Optimization Method for Motion Planning

Abstract:

The efficiency of path clearance optimization method is low and the corresponding path may collide with obstacles when applying it to the original path planned by RRTConCon algorithm. The paper analyzed the original path clearance and corridor width and chose proper moving distance towards the medial axis and binary search step. The paper also analyzed the collision reason and proposed an method to deal with it. The method moves collision configurations to the free space and retracts them to the medial axis, then adds them to the retracted path. The experimental results showed the measures are effective to improve efficiency and could deal with collision problem.

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Periodical:

Advanced Materials Research (Volumes 926-930)

Pages:

3128-3131

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.926-930.3128

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Online since:

May 2014

Authors:

Fu Yu Yan*, Fan Wu, Fei Peng, Zhi Jie Zhu

Keywords:

Motion Planning, Path Clearance Optimization Method, Path Quality, RRTConCon

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* - Corresponding Author

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