Distance metrics for path planning with dynamic roadmaps
Völz A, Graichen K (2016)
Publication Language: English
Publication Status: Published
Publication Type: Conference contribution, Conference Contribution
Publication year: 2016
Publisher: VDE Verlag
City/Town: Berlin / Offenbach
Pages Range: 126-132
Conference Proceedings Title: Proceedings of ISR 2016: 47st International Symposium on Robotics
Event location: München
ISBN: 9783800742318
URI: https://ieeexplore.ieee.org/document/7559107
Abstract
Path planning in changing environments requires algorithms that are able to quickly replan when new obstacles appear. The dynamic roadmap method is such an approach that relies on a precomputed graph and a mapping from workspace to configuration space. Of particular importance in this regard is the distance metric used to create the roadmap. This paper evaluates its impact on roadmap quality and resulting planning times. A special emphasis is put on the application of dynamic roadmaps for pick-and-place tasks, where planning has to consider the geometry of the grasped object.
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APA:
Völz, A., & Graichen, K. (2016). Distance metrics for path planning with dynamic roadmaps. In Proceedings of ISR 2016: 47st International Symposium on Robotics (pp. 126-132). München, DE: Berlin / Offenbach: VDE Verlag.
MLA:
Völz, Andreas, and Knut Graichen. "Distance metrics for path planning with dynamic roadmaps." Proceedings of the 47th International Symposium on Robotics, ISR 2016, München Berlin / Offenbach: VDE Verlag, 2016. 126-132.
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