Year: 1996
Type: other
Abstract: The probabilistic path planner (PPP) is a general planning scheme that yields fast robot path planners for a wide variety of problems, involving, e.g., high degree of freedom articulated robots, nonholonomic robots, and multiple robots. In this paper we gointo theoretical aspects regarding the behaviour of PPP. We formulate general properties that guarantee probabilistic completeness of PPP, and we show how these apply to various robot types. Furthermore, we present results which, under certain assumptions on the free con guration space, give estimates of the expected running times. For example, under one such assumption, we show that the expected running time of PPP grows only logarithmically with the complexity of the problem that it solves. 1
Author: P. Švestka
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1554056522