An empirical study of optimal motion planning
An empirical study of optimal motion planning
复制标题
最优运动规划的实证研究
DOI：
10.1109/iros.2014.6942793
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Kris K. Hauser
中科院分区：
文献类型：
--
作者：
Jingru Luo;Kris K. Hauser
本文对最优运动规划器进行了系统的基准比较。在不同维度、同伦类数量和狭窄通道宽度和长度的综合问题上，比较了代表基于采样、基于网格和轨迹优化方法的六种规划方法。性能统计数据收集了成功率和收敛率，并分析了几何特征方面的性能变化。基于这一分析，我们推荐可能在某些问题类别中表现良好的规划者，并为未来的规划研究提出建议。
This paper presents a systematic benchmarking comparison between optimal motion planners. Six planners representing the categories of sampling-based, grid-based, and trajectory optimization methods are compared on synthetic problems of varying dimensionality, number of homotopy classes, and width and length of narrow passages. Performance statistics are gathered on success and convergence rates, and performance variations with respect to geometric characteristics are analyzed. Based on this analysis, we recommend planners that are likely to perform well for certain problem classes, and make recommendations for future planning research.