Optimal Path Planning Using Generalized Voronoi Graph and Multiple Potential Functions
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DOI: 10.1109/tie.2019.2962425
Abstract: In this article, we present a novel nonuniform sampling technique, based on the pipeline of rapidly exploring random tree (RRT), for efficiently computing high-quality collision-free paths while maintaining fast asymptotic convergence to the optimal solution.… read more here.
Keywords: optimal path; generalized voronoi; path; path planning ... See more keywords