1 research outputs found
Landmark Guided Probabilistic Roadmap Queries
A landmark based heuristic is investigated for reducing query phase run-time
of the probabilistic roadmap (\PRM) motion planning method. The heuristic is
generated by storing minimum spanning trees from a small number of vertices
within the \PRM graph and using these trees to approximate the cost of a
shortest path between any two vertices of the graph. The intermediate step of
preprocessing the graph increases the time and memory requirements of the
classical motion planning technique in exchange for speeding up individual
queries making the method advantageous in multi-query applications. This paper
investigates these trade-offs on \PRM graphs constructed in randomized
environments as well as a practical manipulator simulation.We conclude that the
method is preferable to Dijkstra's algorithm or the algorithm with
conventional heuristics in multi-query applications.Comment: 7 Page