Sampling-based robot motion planning: a review

Elbanhawi, M and Simic, M 2014, 'Sampling-based robot motion planning: a review', IEEE Access, vol. 2, pp. 56-77.


Document type: Journal Article
Collection: Journal Articles

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Title Sampling-based robot motion planning: a review
Author(s) Elbanhawi, M
Simic, M
Year 2014
Journal name IEEE Access
Volume number 2
Start page 56
End page 77
Total pages 22
Publisher IEEE
Abstract Motion planning is a fundamental research area in robotics. Sampling-based methods offer an efcient solution for what is otherwise a rather challenging dilemma of path planning. Consequently, these methods have been extended further away from basic robot planning into further difcult scenarios and diverse applications. A comprehensive survey of the growing body of work in sampling-based planning is given here. Simulations are executed to evaluate some of the proposed planners and highlight some of the implementation details that are often left unspecied. An emphasis is placed on contemporary research directions in this eld. We address planners that tackle current issues in robotics. For instance, real-life kinodynamic planning, optimal planning, replanning in dynamic environments, and planning under uncertainty are discussed. The aim of this paper is to survey the state of the art in motion planning and to assess selected planners, examine implementation details and above all shed a light on the current challenges in motion planning and the promising approaches that will potentially overcome those problems.
Subject Autonomous Vehicles
Control Systems, Robotics and Automation
Keyword(s) Planning
sampling
randomization
RRT
PRM
path
motion
autonomous robots.
Copyright notice © 2014 IEEE
ISSN 2169-3536
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