A new technique for improving the dispersion of a set of samples. Application in multi-query motion planning

Weria Khaksar, Tang Sai Hong, Khairul Salleh Mohamed Sahari, Mansoor Khaksar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we proposed a new learning strategy for probabilistic roadmap (PRM) algorithm. The proposed strategy is based on reducing the dispersion of the generated set of samples. We defined a forbidden range around each selected sample and ignore this region in further sampling. The resulted planner called LD-PRM is an effective multi-query sampling-based planner which is able to solve motion planning queries with smaller graphs. Simulation results indicated that the proposed planner improve the runtime of the PRM algorithm. Furthermore, the proposed planner is able to solve difficult motion planning cases including narrow passages and bug traps, which is a difficult task for classic sampling-based algorithms. For measuring the uniformity of the generated samples, a new algorithm was created to measure the dispersion of a set of samples based on any desired resolution. Also, comparison studies are provided to support the superiority claim of the proposed algorithm.

Original languageEnglish
Title of host publicationInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014
EditorsMohammad Fadzli Ramli, Nurshazneem Roslan, Ahmad Kadri Junoh, Maz Jamilah Masnan, Mohammad Huskhazrin Kharuddin
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735413047
DOIs
Publication statusPublished - 15 May 2015
EventInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014 - Penang, Malaysia
Duration: 28 May 201430 May 2014

Publication series

NameAIP Conference Proceedings
Volume1660
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Other

OtherInternational Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014
CountryMalaysia
CityPenang
Period28/05/1430/05/14

All Science Journal Classification (ASJC) codes

  • Physics and Astronomy(all)

Fingerprint Dive into the research topics of 'A new technique for improving the dispersion of a set of samples. Application in multi-query motion planning'. Together they form a unique fingerprint.

  • Cite this

    Khaksar, W., Hong, T. S., Mohamed Sahari, K. S., & Khaksar, M. (2015). A new technique for improving the dispersion of a set of samples. Application in multi-query motion planning. In M. F. Ramli, N. Roslan, A. K. Junoh, M. J. Masnan, & M. H. Kharuddin (Eds.), International Conference on Mathematics, Engineering and Industrial Applications, ICoMEIA 2014 [090034] (AIP Conference Proceedings; Vol. 1660). American Institute of Physics Inc.. https://doi.org/10.1063/1.4915878