NDLI: Informed RRT* towards optimality by reducing size of hyperellipsoid

Content Provider	IEEE Xplore Digital Library
Author	Min-Cheol Kim Jae-Bok Song
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. Eng., Korea Univ., Seoul, South Korea (Min-Cheol Kim; Jae-Bok Song)
Abstract	Wrapping-based informed RRT* is a modified version of informed RRT. Informed RRT formulates an n-dimensional hyperellipsoid from which it generates new sample nodes. This has a dramatically increased chance of sampling nodes that will improve the current best solution compared to conventional RRT. However, due to explorative and randomized behaviors of RRT, the size of the hyperellipsoid will unlikely be small enough to call it effective. To solve this matter, wrapping-based informed RRT* proposed in this paper combines a size-diminishing procedure called `wrapping process' with informed RRT*. The proposed planner can advance from the first solution acquired by the planner to the improved, feasible solution which can drastically reduce the size of the hyperellipsoid. Therefore, the required time consumption in order to acquire the globally optimal solution is reduced dramatically. The algorithm was tested in various environments with different numbers of joint variables and showed much better performance than the existing planners. Furthermore, the wrapping process proved to be a comparably insignificant computational burden regardless of the number of dimensions of the configuration space.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	244
Ending Page	248
File Size	262898
Page Count	5
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222539
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrapping Manipulators Three-dimensional displays Planning Path planning Automation optimal motion planning Sampling-based motion planning RRT RRT*
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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