TY - GEN
T1 - An experimental study for optimal homotopy property of motion planning algorithms
AU - Liu, Yang
AU - Zhang, Jiantao
AU - Zeng, Yizhi
AU - Yao, Haonan
AU - Li, Jiankang
AU - Zhang, Jing
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - Path Planning Problem is very hard for its huge search space. In this paper, we quote the definition of homotopy in mathematics to describe the right 'direction' of the optimal path, which is a necessary condition for the optimal paths under the holonomic condition. Based on the concept of homotopy, optimal homotopy property is proposed for paths. Numerical experiments involving RRT∗, sPRM, RRT, PSO, A∗ and Jump Point Search (JPS) are carried out. Although A∗ and JPS are gird space optimal, these do not satisfy optimal Homotopy property.
AB - Path Planning Problem is very hard for its huge search space. In this paper, we quote the definition of homotopy in mathematics to describe the right 'direction' of the optimal path, which is a necessary condition for the optimal paths under the holonomic condition. Based on the concept of homotopy, optimal homotopy property is proposed for paths. Numerical experiments involving RRT∗, sPRM, RRT, PSO, A∗ and Jump Point Search (JPS) are carried out. Although A∗ and JPS are gird space optimal, these do not satisfy optimal Homotopy property.
KW - A∗
KW - Homotopy
KW - Jump point search(JPS)
KW - Motion planning
KW - RRT∗
UR - https://www.scopus.com/pages/publications/85075118434
U2 - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00133
DO - 10.1109/DASC/PiCom/CBDCom/CyberSciTech.2019.00133
M3 - 会议稿件
AN - SCOPUS:85075118434
T3 - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
SP - 705
EP - 709
BT - Proceedings - IEEE 17th International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Dependable, Autonomic and Secure Computing, IEEE 17th International Conference on Pervasive Intelligence and Computing, IEEE 5th International Conference on Cloud and Big Data Computing, 4th Cyber Science and Technology Congress, DASC-PiCom-CBDCom-CyberSciTech 2019
Y2 - 5 August 2019 through 8 August 2019
ER -