Skip to main content
placeholder image

Path Planning with a Lazy Significant Edge Algorithm (LSEA)

Journal Article


Download full-text (Open Access)

Abstract


  • Probabilistic methods have been proven to be effective for robotic path planning in a geometrically complex environment. In this paper, we propose a novel approach, which utilizes a specialized roadmap expansion phase, to improve lazy probabilistic path planning. This expansion phase analyses roadmap connectivity information to bias sampling towards objects in the workspace that have not yet been navigated by the robot. A new method to reduce the number of samples required to navigate narrow passages is also proposed and tested. Experimental results show that the new algorithm is more efficient than the traditional path planning methodologies. It was able to generate solutions for a variety of path planning problems faster, using fewer samples to arrive at a valid solution.

Publication Date


  • 2013

Citation


  • Polden, J., Pan, Z., Larkin, N. & Van Duin, S. (2013). Path Planning with a Lazy Significant Edge Algorithm (LSEA). International Journal of Advanced Robotic Systems, 10 (198), 1-8.

Scopus Eid


  • 2-s2.0-84878402467

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2540&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1531

Has Global Citation Frequency


Number Of Pages


  • 7

Start Page


  • 1

End Page


  • 8

Volume


  • 10

Issue


  • 198

Place Of Publication


  • Croatia

Abstract


  • Probabilistic methods have been proven to be effective for robotic path planning in a geometrically complex environment. In this paper, we propose a novel approach, which utilizes a specialized roadmap expansion phase, to improve lazy probabilistic path planning. This expansion phase analyses roadmap connectivity information to bias sampling towards objects in the workspace that have not yet been navigated by the robot. A new method to reduce the number of samples required to navigate narrow passages is also proposed and tested. Experimental results show that the new algorithm is more efficient than the traditional path planning methodologies. It was able to generate solutions for a variety of path planning problems faster, using fewer samples to arrive at a valid solution.

Publication Date


  • 2013

Citation


  • Polden, J., Pan, Z., Larkin, N. & Van Duin, S. (2013). Path Planning with a Lazy Significant Edge Algorithm (LSEA). International Journal of Advanced Robotic Systems, 10 (198), 1-8.

Scopus Eid


  • 2-s2.0-84878402467

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2540&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1531

Has Global Citation Frequency


Number Of Pages


  • 7

Start Page


  • 1

End Page


  • 8

Volume


  • 10

Issue


  • 198

Place Of Publication


  • Croatia