A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods [article]

Jonathan D. Gammell, Marlin P. Strub
2020 arXiv   pre-print
Motion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot's limitations and constraints. It is often desirable for this path to also optimize a cost function, such as path length. Formal path-quality guarantees for continuously valued search spaces are an active area of research interest. Recent results have proven that some sampling-based planning methods probabilistically converge towards the optimal
more » ... solution as computational effort approaches infinity. This survey summarizes the assumptions behind these popular asymptotically optimal techniques and provides an introduction to the significant ongoing research on this topic.
arXiv:2009.10484v1 fatcat:idhjoeu3snhljmmhvhodqd4cca