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Computer Science > Robotics

arXiv:2206.11977 (cs)
[Submitted on 23 Jun 2022]

Title:Hierarchical Planning with Annotated Skeleton Guidance

Authors:Diane Uwacu, Ananya Yammanuru, Marco Morales, Nancy M. Amato
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Abstract:We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find the desired solutions fast. However, sometimes the skeleton does not closely represent the free c-space, which often misleads current skeleton-guided planners. The hierarchical skeleton-guided planning strategy gradually relaxes its reliance on the workspace skeleton as C space is sampled, thereby incrementally returning a sub-optimal path, a feature that is not guaranteed in the standard skeleton-guided algorithm. Experimental comparisons to the standard skeleton-guided planners and other lazy planning strategies show significant improvement in roadmap construction run time while maintaining path quality for multi-query problems in cluttered environments.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2206.11977 [cs.RO]
  (or arXiv:2206.11977v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2206.11977

Submission history

From: Diane Uwacu [view email]
[v1] Thu, 23 Jun 2022 21:06:39 UTC (5,441 KB)
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