Transcription of Fast Probabilistic Collision Checking for Sampling-based ...
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1 Fast Probabilistic Collision Checking forSampling-based Motion Planning usingLocality-Sensitive HashingJia Pan1and Dinesh Manocha2 Abstract We present a novel approach to perform fastprobabilistic Collision Checking in high-dimensional configurationspaces to accelerate the performance of Sampling-based motionplanning. Our formulation stores the results of prior collisionqueries, and then uses such information to predict the collisionprobability for a new configuration sample. In particular, weperform an approximatek-NN (k-nearest neighbor) search tofind prior query samples that are closest to the new queryconfiguration.
search algorithms, especially the locality-sensitive hashing ap-proaches, which make up our toolbox for accelerating collision queries. A. Collision Checking for Motion Planning One important feature of sampling-based motion planners is the use of exact collision queries to probe the connectivity of C free. However, the topology of C
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