Adaptive sampling for generalized probabilistic roadmaps-广义概率路图的自适应采样.pdfVIP

JControl 2012 10(1)l—lO TheoryAppl DOI10．1007IsI 1768-012-0183一Y for Adaptivesamplinggeneralized roadmaps CHAKRAVORTY KUMAR，Suman Sandip of AM Engineering，Texas Station，TX77843·3141，U．S．A． DepartmentAerospace University,College Abstract：Inthis is forthe motion paper,an samplingstrategy adaptive presentedgeneralizedsampling·-basedplan·- are toaccountfor and stochastic model net,generalizedprobabilisticroadmap(GPRM)．Theseplannersdesigned map the and afeedbacksolutionto motion inthisframeworkcan uncertaintyprovide planningproblem．Intelligentlysampling resultin when tonaiveunifoFin theinformationoftransition largespeedupscompared sampling．Byusing probabilities． in encodedthese biases to the of generalizedplanners，thestrategysamplingimproveefficiencysampling，and proposed increasetheoverallsuccess ofGPRM．Theisusedtosolvethemotion ofa