Sampling-based path planning with goal oriented sampling

Gitae Kang; Yong Bum Kim; Won Suk You; Young Hun Lee; Hyun Seok Oh; Hyungpil Moon; Hyouk Ryeol Choi

doi:10.1109/AIM.2016.7576947

Sampling-based path planning with goal oriented sampling

Gitae Kang, Yong Bum Kim, Won Suk You, Young Hun Lee, Hyun Seok Oh, Hyungpil Moon, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

Path planning in complicated environments is a time consuming and computationally expensive task. Especially in high-dimensional configuration spaces with complex obstacles, searching for a proper path while avoiding collisions is still challenging. This paper presents an improved sampling-based algorithm, called the Goal Oriented sampling method (GO sampling) that quickly generates an initial solution overcoming these problems. GO sampling extends the sampling method of the Rapidly-exploring Random Tree (RRT) algorithm. GO sampling is able to identify the initial solution in a shorter time than that of the RRT algorithm and shows significant improvement in computational efficiency. The algorithm is evaluated with simulations in 2D and 3D space.

Original language	English
Title of host publication	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1285-1290
Number of pages	6
ISBN (Electronic)	9781509020652
DOIs	https://doi.org/10.1109/AIM.2016.7576947
State	Published - 26 Sep 2016
Event	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 12 Jul 2016 → 15 Jul 2016

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2016-September

Conference

Conference	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country/Territory	Canada
City	Banff
Period	12/07/16 → 15/07/16

Access to Document

10.1109/AIM.2016.7576947

Cite this

Kang, G., Kim, Y. B., You, W. S., Lee, Y. H., Oh, H. S., Moon, H., & Choi, H. R. (2016). Sampling-based path planning with goal oriented sampling. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 1285-1290). Article 7576947 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576947

@inproceedings{92a7c03ad27b4cffb1c881d4d8ec3c25,

title = "Sampling-based path planning with goal oriented sampling",

abstract = "Path planning in complicated environments is a time consuming and computationally expensive task. Especially in high-dimensional configuration spaces with complex obstacles, searching for a proper path while avoiding collisions is still challenging. This paper presents an improved sampling-based algorithm, called the Goal Oriented sampling method (GO sampling) that quickly generates an initial solution overcoming these problems. GO sampling extends the sampling method of the Rapidly-exploring Random Tree (RRT) algorithm. GO sampling is able to identify the initial solution in a shorter time than that of the RRT algorithm and shows significant improvement in computational efficiency. The algorithm is evaluated with simulations in 2D and 3D space.",

author = "Gitae Kang and Kim, \{Yong Bum\} and You, \{Won Suk\} and Lee, \{Young Hun\} and Oh, \{Hyun Seok\} and Hyungpil Moon and Choi, \{Hyouk Ryeol\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 ; Conference date: 12-07-2016 Through 15-07-2016",

year = "2016",

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doi = "10.1109/AIM.2016.7576947",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

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}

Kang, G, Kim, YB, You, WS, Lee, YH, Oh, HS, Moon, H & Choi, HR 2016, Sampling-based path planning with goal oriented sampling. in 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016., 7576947, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 1285-1290, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Banff, Canada, 12/07/16. https://doi.org/10.1109/AIM.2016.7576947

Sampling-based path planning with goal oriented sampling. / Kang, Gitae; Kim, Yong Bum; You, Won Suk et al.
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1285-1290 7576947 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Kang, Gitae

AU - Kim, Yong Bum

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AU - Lee, Young Hun

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AU - Moon, Hyungpil

AU - Choi, Hyouk Ryeol

PY - 2016/9/26

Y1 - 2016/9/26

N2 - Path planning in complicated environments is a time consuming and computationally expensive task. Especially in high-dimensional configuration spaces with complex obstacles, searching for a proper path while avoiding collisions is still challenging. This paper presents an improved sampling-based algorithm, called the Goal Oriented sampling method (GO sampling) that quickly generates an initial solution overcoming these problems. GO sampling extends the sampling method of the Rapidly-exploring Random Tree (RRT) algorithm. GO sampling is able to identify the initial solution in a shorter time than that of the RRT algorithm and shows significant improvement in computational efficiency. The algorithm is evaluated with simulations in 2D and 3D space.

AB - Path planning in complicated environments is a time consuming and computationally expensive task. Especially in high-dimensional configuration spaces with complex obstacles, searching for a proper path while avoiding collisions is still challenging. This paper presents an improved sampling-based algorithm, called the Goal Oriented sampling method (GO sampling) that quickly generates an initial solution overcoming these problems. GO sampling extends the sampling method of the Rapidly-exploring Random Tree (RRT) algorithm. GO sampling is able to identify the initial solution in a shorter time than that of the RRT algorithm and shows significant improvement in computational efficiency. The algorithm is evaluated with simulations in 2D and 3D space.

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DO - 10.1109/AIM.2016.7576947

M3 - Conference contribution

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BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016

PB - Institute of Electrical and Electronics Engineers Inc.

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Kang G, Kim YB, You WS, Lee YH, Oh HS, Moon H et al. Sampling-based path planning with goal oriented sampling. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1285-1290. 7576947. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2016.7576947

Sampling-based path planning with goal oriented sampling

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