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

This paper proposes a post-processing method called bidirectional interpolation method for sampling-based path planning algorithms, such as rapidly-exploring random tree (RRT). The proposed algorithm applies interpolation to the path generated by the sampling-based path planning algorithm. In this s...

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Autores principales:	Tae-Won Kang, Jin-Gu Kang, Jin-Woo Jung
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	bidirectional interpolation method post-processing RRT-connect triangular RRT-connect midpoint interpolation sampling-based path planning Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/ca8778797c9e40a2a908d66ddde16efa
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id	oai:doaj.org-article:ca8778797c9e40a2a908d66ddde16efa
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spelling	oai:doaj.org-article:ca8778797c9e40a2a908d66ddde16efa2021-11-11T19:20:26ZA Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning10.3390/s212174251424-8220https://doaj.org/article/ca8778797c9e40a2a908d66ddde16efa2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7425https://doaj.org/toc/1424-8220This paper proposes a post-processing method called bidirectional interpolation method for sampling-based path planning algorithms, such as rapidly-exploring random tree (RRT). The proposed algorithm applies interpolation to the path generated by the sampling-based path planning algorithm. In this study, the proposed algorithm is applied to the path created by RRT-connect and six environmental maps were used for the verification. It was visually and quantitatively confirmed that, in all maps, not only path lengths but also the piecewise linear shape were decreased compared to the path generated by RRT-connect. To check the proposed algorithm’s performance, visibility graph, RRT-connect algorithm, Triangular-RRT-connect algorithm and post triangular processing of midpoint interpolation (PTPMI) were compared in various environmental maps through simulation. Based on these experimental results, the proposed algorithm shows similar planning time but shorter path length than previous RRT-like algorithms as well as RRT-like algorithms with PTPMI having a similar number of samples.Tae-Won KangJin-Gu KangJin-Woo JungMDPI AGarticlebidirectional interpolation methodpost-processingRRT-connecttriangular RRT-connectmidpoint interpolationsampling-based path planningChemical technologyTP1-1185ENSensors, Vol 21, Iss 7425, p 7425 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	bidirectional interpolation method post-processing RRT-connect triangular RRT-connect midpoint interpolation sampling-based path planning Chemical technology TP1-1185
spellingShingle	bidirectional interpolation method post-processing RRT-connect triangular RRT-connect midpoint interpolation sampling-based path planning Chemical technology TP1-1185 Tae-Won Kang Jin-Gu Kang Jin-Woo Jung A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
description	This paper proposes a post-processing method called bidirectional interpolation method for sampling-based path planning algorithms, such as rapidly-exploring random tree (RRT). The proposed algorithm applies interpolation to the path generated by the sampling-based path planning algorithm. In this study, the proposed algorithm is applied to the path created by RRT-connect and six environmental maps were used for the verification. It was visually and quantitatively confirmed that, in all maps, not only path lengths but also the piecewise linear shape were decreased compared to the path generated by RRT-connect. To check the proposed algorithm’s performance, visibility graph, RRT-connect algorithm, Triangular-RRT-connect algorithm and post triangular processing of midpoint interpolation (PTPMI) were compared in various environmental maps through simulation. Based on these experimental results, the proposed algorithm shows similar planning time but shorter path length than previous RRT-like algorithms as well as RRT-like algorithms with PTPMI having a similar number of samples.
format	article
author	Tae-Won Kang Jin-Gu Kang Jin-Woo Jung
author_facet	Tae-Won Kang Jin-Gu Kang Jin-Woo Jung
author_sort	Tae-Won Kang
title	A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
title_short	A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
title_full	A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
title_fullStr	A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
title_full_unstemmed	A Bidirectional Interpolation Method for Post-Processing in Sampling-Based Robot Path Planning
title_sort	bidirectional interpolation method for post-processing in sampling-based robot path planning
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/ca8778797c9e40a2a908d66ddde16efa
work_keys_str_mv	AT taewonkang abidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning AT jingukang abidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning AT jinwoojung abidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning AT taewonkang bidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning AT jingukang bidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning AT jinwoojung bidirectionalinterpolationmethodforpostprocessinginsamplingbasedrobotpathplanning
_version_	1718431553825013760

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

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