Accelerating Bi-Directional Sampling-Based Search for Motion Planning of Non-Holonomic Mobile Manipulators
Shantanu Thakar,Pradeep Rajendran,Hyojeong Kim,Ariyan M. Kabir,Satyandra K. Gupta,Shantanu Thakar,Pradeep Rajendran,Hyojeong Kim,Ariyan M. Kabir,Satyandra K. Gupta
Determining a feasible path for nonholonomic mobile manipulators operating in congested environments is challenging. Sampling-based methods, especially bi-directional tree search-based approaches, are amongst the most promising candidates for quickly finding feasible paths. However, sampling uniformly when using these methods may result in high computation time. This paper introduces two technique...
