A Region-specific Hybrid Sampling Method for Optimal Path Planning

摘要

Finding high quality paths within a limited time in configuration space is a challenging issue for path planning. Recently, an asymptotically optimal method called fast marching tree (FMT*) has been proposed. This method converges significantly faster than its state-of-the-art counterparts when addressing a wide range of problems. However, FMT* appears unable to solve the narrow passage problem in optimal path planning, since it is based on uniform sampling. Aiming at solving this problem, a novel region-based sampling method integrating global scenario information and local region information is proposed in this paper. First, global information related to configuration space is extracted from an initial sample set obtained via hybrid sampling. Then, local regions are constructed and local region information is captured to make intelligent decisions regarding regions that are difficult and need to be boosted. Finally, the initial sample set is sent to FMT* using a modified locally optimal one-step connection strategy in order to find an initial and feasible solution. If no solution is found and time permits, the guided hybrid sampling will be adopted in order to add more useful samples to the sample set until a solution is found or the time for doing so runs out. Simulation results for six benchmark scenarios validate that our method can achieve significantly better results than other state-of-the-art methods when applied in challenging scenarios with narrow passages.