NDLI: Predictive model for path planning by using k-near dynamic bridge builder and Inner Parzen Window

Content Provider	IEEE Xplore Digital Library
Author	Hong Liu Ding Ding Weiwei Wan Hongbin Zha
Copyright Year	2008
Description	Author affiliation: Key Lab. of Machine Perception & Intell., Peking Univ., Beijing (Hong Liu; Ding Ding; Weiwei Wan; Hongbin Zha)
Abstract	Robotic path planning in changing environments with difficult regions is an extremely challenge. Since the structure of configuration space (C-space) will change when obstacles move in workspace (W-space), the planner should have the capacity of building approximate structure of C-space, while avoiding intense computational complexity. Further, difficult regions will also change their positions, which requires the planner should be able to identify them fast and increase the free nodes inside them efficiently. This paper presents a novel approach for path planning in changing environments using predictive model, which is inspired by the idea of active learning. With the help of W-C nodes mapping, this predictive model is built to capture the approximate structure of C-space, while avoiding intense computational complexity. This model include two steps: K-near Dynamic Bridge Builder (K-near DBB) is proposed to identify difficult passages in the space first, and then Inner Parzen Window is adopted to sample points in these difficult regions without invoking any collision checker. Experiments are carried out with two 6-DOF manipulators, and our approach can find a path with high time efficiency and low error rate, even if the environment is complex.
Starting Page	2133
Ending Page	2138
File Size	796480
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650912
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Predictive models Robots Collision avoidance Distance measurement Bridges Computational modeling Classification algorithms
Content Type	Text
Resource Type	Article

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