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A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning.

Tae-Won Kang1, Jin-Gu Kang2, Jin-Woo Jung2

  • 1Department of Artificial Intelligence, Dongguk University, Seoul 04620, Korea.

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|November 13, 2021
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Summary
This summary is machine-generated.

This study introduces a bidirectional interpolation method to refine paths from sampling-based algorithms like RRT. The new method shortens path lengths and smooths trajectories, outperforming existing techniques.

Keywords:
RRT-connectbidirectional interpolation methodmidpoint interpolationpost-processingsampling-based path planningtriangular RRT-connect

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Sampling-based path planning algorithms, such as Rapidly-exploring Random Tree (RRT), are crucial for navigation in complex environments.
  • Existing algorithms often produce paths with suboptimal lengths and jagged trajectories.
  • Post-processing methods are needed to enhance the quality of generated paths.

Purpose of the Study:

  • To propose and evaluate a novel post-processing method, the bidirectional interpolation method, for improving paths generated by sampling-based path planning algorithms.
  • To quantitatively and visually assess the effectiveness of the bidirectional interpolation method in reducing path length and improving path smoothness.
  • To compare the performance of the proposed method against established algorithms like RRT-connect and other interpolation techniques.

Main Methods:

  • The bidirectional interpolation method was developed as a post-processing step for sampling-based path planning.
  • The method was applied to paths generated by the RRT-connect algorithm.
  • Simulations were conducted across six diverse environmental maps to validate the algorithm's performance.

Main Results:

  • The bidirectional interpolation method consistently reduced both path lengths and the piecewise linear nature of paths compared to the standard RRT-connect algorithm.
  • Performance was evaluated against Visibility Graph, RRT-connect, Triangular-RRT-connect, and post triangular processing of midpoint interpolation (PTPMI).
  • The proposed algorithm demonstrated comparable planning times to existing RRT-like algorithms while achieving shorter path lengths, even when compared to those with PTPMI.

Conclusions:

  • The bidirectional interpolation method is an effective post-processing technique for enhancing sampling-based path planning.
  • It offers significant improvements in path length and smoothness without substantially increasing computational time.
  • This method presents a valuable advancement for robotic navigation and motion planning applications.