A Fast Marching Gradient Sampling Strategy for Motion Planning using an Informed Certificate Set
Shenglei Shi,Jiankui Chen,Youlun Xiong,Shenglei Shi,Jiankui Chen,Youlun Xiong
We present a novel fast marching gradient sampling strategy to accelerate the convergence speed of sampling-based motion planning algorithms. This strategy is based on an informed certificate set which consists of the robot states with exact collision status as well as the minimum distance and the gradient to the nearest obstacle. The informed certificate set covers almost the whole planning space...
