A Survey on Randomized Sampling-Based Path Optimization Methods

Abstract

Randomized sampling-based motion planners could efficiently generate collision-free motion paths. However, these paths have some quality problems (with respect to quality measures, such as path length, clearance and smoothness), especially in high dimensional configuration spaces. Thus, researchers studied some path optimization methods to improve path quality and to make paths suitable for practical applications. This paper reviews some of the most influential path optimization methods and gives an overall perspective on the most widely used ideas in the field.