Skip to Main content Skip to Navigation
Conference papers

Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment

Thibault Noël 1 Sala Kabbour 2 Antoine Lehuger 2 Eric Marchand 1 François Chaumette 1 
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE
Abstract : In this paper, we propose a new sampling-based path planning approach, focusing on the challenges linked to autonomous exploration. Our method relies on the definition of a disk graph of free-space bubbles, from which we derive a biased sampling function that expands the graph towards known free space for maximal navigability and frontiers discovery. The proposed method demonstrates an exploratory behavior similar to Rapidly-exploring Random Trees, while retaining the connectivity and flexibility of a graph-based planner. We demonstrate the interest of our method by first comparing its path planning capabilities against state-of-theart approaches, before discussing exploration-specific aspects, namely replanning capabilities and incremental construction of the graph. A simple frontiers-driven exploration controller derived from our planning method is also demonstrated using the Pioneer platform.
Document type :
Conference papers
Complete list of metadata

https://hal.inria.fr/hal-03752195
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Tuesday, August 16, 2022 - 2:01:25 PM
Last modification on : Thursday, September 1, 2022 - 11:52:42 AM

File

2022_iros_noel.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-03752195, version 1

Citation

Thibault Noël, Sala Kabbour, Antoine Lehuger, Eric Marchand, François Chaumette. Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment. IROS 2022 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. pp.1-8. ⟨hal-03752195⟩

Share

Metrics

Record views

39

Files downloads

22