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Optimal Path Planning using RRT* based Approaches: A Survey and Future Directions

Iram Noreen, Amna Khan, Zulfiqar Habib
2016 International Journal of Advanced Computer Science and Applications  
A significant body of research has addressed the problem of optimal path planning for mobile robots using RRT* based approaches. However, no updated survey on RRT* based approaches is available.  ...  It has gained immense popularity due to its support for high dimensional complex problems.  ...  Efficiency of Nearest Neighbor Search Computational complexity of near neighbor search in each iteration also grows as tree expands exponentially.  ... 
doi:10.14569/ijacsa.2016.071114 fatcat:unyhpepairf3bcgujrrwwhti6i

HRA∗: Hybrid randomized path planning for complex 3D environments

Ernesto H. Teniente, Juan Andrade-Cetto
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose HRA*, a new randomized path planner for complex 3D environments.  ...  The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations.  ...  nearest neighbor set.  ... 
doi:10.1109/iros.2013.6696588 dblp:conf/iros/AvilesA13 fatcat:5te7ueyp65hchplxnoehpoajki

Multilevel Motion Planning: A Fiber Bundle Formulation [article]

Andreas Orthey and Sohaib Akbar and Marc Toussaint
2020 arXiv   pre-print
Given such a structure and a corresponding admissible constraint function, we can develop highly efficient and optimal search-based motion planning methods for high-dimensional state spaces.  ...  We show these algorithms to be probabilistically complete and almost-surely asymptotically optimal.  ...  Acknowledgement The authors disclose receipt of the following financial support for the research, authorship and publication of this article:  ... 
arXiv:2007.09435v1 fatcat:oaxpk5576fcdjfrirmhanlvdgm

T^⋆-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles [article]

James P. Wilson and Zongyuan Shen and Shalabh Gupta and Thomas A. Wettergren
2020 arXiv   pre-print
T^⋆-Lite uses the novel time-risk cost function of T^⋆; however, instead of a grid-based approach, it uses an asymptotically optimal sampling-based motion planner.  ...  In this paper, we develop a new algorithm, called T^⋆-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles.  ...  Up to 100 nearest-neighbors are considered when updating the search tree with a newly sampled state. The maximum connection distance between sampled states was set to 3 meters.  ... 
arXiv:2008.13048v1 fatcat:hq2pgmumpnhsvacf5soa4duram

Planning the Waypoint-Following Task for a Unicycle-Like Robot in Cluttered Environments

Tomasz Gawron, Maciej Michalek
2015 Journal of Automation, Mobile Robotics & Intelligent Systems  
Orienta on planning exploits proper es of the VFO controller used for subsequent mo on execu on.  ...  Proposed twostage algorithm admits changes of robot mo on strategy (forward/backward movement) and has lower computaonal cost than the full configura on space search.  ...  Thus, mentioned neighbors can be safely pruned without losing completeness of the search.  ... 
doi:10.14313/jamris_1-2015/10 fatcat:tfay7aavdrconnnc4svkh6pc6e

Survey of Robot 3D Path Planning Algorithms

Liang Yang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han, Yong Xia
2016 Journal of Control Science and Engineering  
Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal  ...  For all these algorithms, they are analyzed from a time efficiency and implementable area perspective.  ...  Reference [30] introduced PRM * to guarantee asymptotical optimality.  ... 
doi:10.1155/2016/7426913 fatcat:ownzdf2ssrbqjntwxejjn5twoq

Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain [article]

Philipp Oettershagen, Florian Achermann, Benjamin Müller, Daniel Schneider, Roland Siegwart
2017 arXiv   pre-print
Performance optimizations, e.g. obstacle-aware sampling and fast 2.5D-map collision checks, render the planner 50% faster than the Open Motion Planning Library (OMPL) implementation.  ...  This paves the way for follow-up research on fully-autonomous environment-aware navigation of UAVs in real-life missions and complex terrain.  ...  Bruno Neininger and David Braig from the Zurich University of Applied Sciences both for providing the LIDAR wind measurements and assistance in evaluating the data.  ... 
arXiv:1712.03608v1 fatcat:dmriivvf45holmcgjtodt3gupe

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles [article]

Brian Paden, Michal Cap, Sze Zheng Yong, Dmitry Yershov, Emilio Frazzoli
2016 arXiv   pre-print
The two most commonly used strategies for implementing neighbors(x, V ) function are to take 1) the set of k-nearest neighbors to x or 2) the set of points lying within the ball centered at x with radius  ...  Similarly, the term asymptotically optimal is used for algorithms that converge to optimal solution with probability one.  ... 
arXiv:1604.07446v1 fatcat:ajwztawbwra6tpw2zf67uncevm

Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs [article]

Taha Elmokadem
2021 arXiv   pre-print
The second part of this report addresses safe navigation for multi-UAV systems. Distributed motion coordination methods of multi-UAV systems for flocking and 3D area coverage are developed.  ...  A desirable feature for UAVs is the ability to navigate and perform tasks autonomously with least human interaction.  ...  For each invalid point in L, compute a safer position by moving it away from the nearest neighbors in W 𝑠 in the direction of the average estimated surface normals at the nearest neighbors with some distance  ... 
arXiv:2111.00166v1 fatcat:5jnrdu24xrbhraqzucsfsadl4y

A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms

Chee Sheng Tan, Rosmiwati Mohd-Mokhtar, Mohd Rizal Arshad
2021 IEEE Access  
For more information, see VOLUME 9, 2021  ...  Finally, we conclude numerous open research problems of the CPP and make suggestions for future research directions to gain insights.  ...  The local search and the cost path could be improved by utilizing the nearest neighbor insertion algorithm and variable neighborhood strategy. Meaclem et al. [314] and Ding et al.  ... 
doi:10.1109/access.2021.3108177 fatcat:ddkiiuc2znfwhc6z3xqbk5oo7y

The VFO-Driven Motion Planning and Feedback Control in Polygonal Worlds for a Unicycle with Bounded Curvature of Motion

Tomasz Gawron, Maciej Marcin Michałek
2017 Journal of Intelligent and Robotic Systems  
Integrated motion planning and control for the purposes of maneuvering mobile robots under state-and input constraints is a problem of vital practical importance in applications of mobile robots such as  ...  It is worth noting, that their efficient implementation can be a complex task due to auxiliary algorithmic problems such as, e.g., nearest-neighbor search.  ...  On the other hand, in general, they guarantee only probabilistic completeness as opposed to resolution completeness and can suffer from slow convergence to optimal plans for nonholonomic systems.  ... 
doi:10.1007/s10846-017-0555-0 fatcat:tzv2hqz6fvg6vefpddbbrihxhi

Path Planning for Fixed-Wing Unmanned Aerial Vehicles

Daniel Schneider
A modification to the optimal Fast Marching Tree algorithm (FMT*) is presented.  ...  Additional experiments have shown that computing non-optimal paths for start-goal configurations occurring rarely in real application scenarios, speeds up the computation of the paths up to 40 times.  ...  Search for its nearest neighbor x cur ∈ V . Nearest refers to the neighbor x n for which the edge between x n and x r is optimal with respect to eq. 2.1.  ... 
doi:10.3929/ethz-a-010646508 fatcat:vdt7pnnbfbbijosqkx2gmanp24

Aalborg Universitet 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces Schøler, Flemming 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces

Flemming Schøler, Thesis
2012 unpublished
It was shown that a usable path can be found by searching the visibility graph using a graph search algorithm and that the found solution is close to the optimal for the given test scenario.  ...  searching the graph for the shortest path.  ... 

Foreword of Special Issue on "E-Service and Applications"

Jason C. Hung, Hsing-I Wang
2011 Journal of Computers  
This special issue focuses on the state-of-the-art software technology related to these issues, including Resource management for cloud systems, Services integration and management in cloud systems, Optimal  ...  This paper presents an e-service design on stroke-precaution for senior citizens, followed by its implementation and evaluation.  ...  ACKNOWLEDGMENT The authors would like to express their appreciation for the financial support from the National Science Coun-  ... 
doi:10.4304/jcp.6.3.387-388 fatcat:6uf2oayvbbfibphaobqewpnkx4

On the Fundamental Relationships Among Path Planning Alternatives

Ross A Knepper
In path sampling, the principle of locality is introduced as a basis for constructing an adaptive, probabilistic, geometric model to influence the selection of paths for collision test.  ...  By recognizing such neighboring paths with related shapes and outcomes, up to 90% of paths may be tested implicitly in experiments, bypassing the traditional, expensive collision test and delivering a  ...  Finding dispersion then amounts to iterating over X and finding the nearest neighbor in P at each point.  ... 
doi:10.1184/r1/6720917 fatcat:mstcgkamorfejljqr6jj26mwau
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