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Path Planning Using a Single-Query Bi-directional Lazy Collision Checking Planner

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MICAI 2002: Advances in Artificial Intelligence (MICAI 2002)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2313))

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Abstract

Applications such as programming spot-welding stations require computing paths in high-dimensional spaces. Random sampling approaches, such as the Probabilistic Roadmaps (PRM) have shown great potential in solving path-planning problems in this kinds of environments. In this paper, we review the description of a new probabilistic roadmap planner, called SBL, which stands for Single-query, Bi-directional and Lazy Collision Checking, and we also add some new results that allow a better comparison of SBL against other similar planners. The combination of features offered by SBL reduces the planning time by large factors, making it possible to handle more difficult planning problems, including multi-robot problems in geometrically complex environments. Specifically, we show the results obtained using SBL in environments with as many as 36 degrees of freedom, and environments in which narrow passages are present.

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Author information

Authors and Affiliations

  1. Dept. of Computer Science, ITESM Campus Guadalajara, Av. Gral. Ramon Corona 2514, 45140, Zapopan, Jalisco, Mexico

    Gildardo Sánchez-Ante

Authors
  1. Gildardo Sánchez-Ante
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Editor information

Editors and Affiliations

  1. Computer Science Section, Electrical Engineering Department, CINVESTAV-IPN, Av. IPN 2508, Col. San Pedro Zacatenco, D.F. 07300, Mexico, Mexico

    Carlos A. Coello Coello

  2. Computer Science Department, ITESM-Mexico City, Calle del Puente 222, Tlalpan, D.F. 14380, Mexico, Mexico

    Alvaro de Albornoz

  3. Computer Science Department, ITESM-Cuernavaca, Reforma 182-A, Lomas de Cuernavaca, Temixco, 62589, Morelos, Mexico

    Luis Enrique Sucar

  4. Department of Computer Science, ITAM, Rio Hondo 1, Progreso Tizapan, D.F. 01000, Mexico, Mexico

    Osvaldo Cairó Battistutti

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© 2002 Springer-Verlag Berlin Heidelberg

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Sánchez-Ante, G. (2002). Path Planning Using a Single-Query Bi-directional Lazy Collision Checking Planner. In: Coello Coello, C.A., de Albornoz, A., Sucar, L.E., Battistutti, O.C. (eds) MICAI 2002: Advances in Artificial Intelligence. MICAI 2002. Lecture Notes in Computer Science(), vol 2313. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-46016-0_5

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  • DOI: https://doi.org/10.1007/3-540-46016-0_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43475-7

  • Online ISBN: 978-3-540-46016-9

  • eBook Packages: Springer Book Archive

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