Disk-Graph Probabilistic Roadmap: Biased Distance Sampling for Path Planning in a Partially Unknown Environment
T. Noël,S. Kabbour,A. Lehuger,E. Marchand,F. Chaumette,T. Noël,S. Kabbour,A. Lehuger,E. Marchand,F. Chaumette
In this paper, we propose a new sampling-based path planning approach, focusing on the challenges linked to autonomous exploration. Our method relies on the definition of a disk graph of free-space bubbles, from which we derive a biased sampling function that expands the graph towards known free space for maximal navigability and frontiers discovery. The proposed method demonstrates an exploratory...
